OpenDEEnvironment.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEEnvironment.h"
38 
39 unsigned int ompl::control::OpenDEEnvironment::getMaxContacts(dGeomID /*geom1*/, dGeomID /*geom2*/) const
40 {
41  return maxContacts_;
42 }
43 
44 bool ompl::control::OpenDEEnvironment::isValidCollision(dGeomID /*geom1*/, dGeomID /*geom2*/,
45  const dContact & /*contact*/) const
46 {
47  return false;
48 }
49 
50 void ompl::control::OpenDEEnvironment::setupContact(dGeomID /*geom1*/, dGeomID /*geom2*/, dContact &contact) const
51 {
52  contact.surface.mode = dContactBounce | dContactSoftCFM;
53  contact.surface.mu = 0.1;
54  contact.surface.mu2 = 0;
55  contact.surface.bounce = 0.01;
56  contact.surface.bounce_vel = 0.001;
57  contact.surface.soft_cfm = 0.01;
58 }
59 
60 std::string ompl::control::OpenDEEnvironment::getGeomName(dGeomID geom) const
61 {
62  auto it = geomNames_.find(geom);
63  if (it == geomNames_.end())
64  return std::to_string(reinterpret_cast<unsigned long>(geom));
65  else
66  return it->second;
67 }
68 
69 void ompl::control::OpenDEEnvironment::setGeomName(dGeomID geom, const std::string &name)
70 {
71  geomNames_[geom] = name;
72 }
virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const
Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...
unsigned int maxContacts_
The maximum number of contacts to create between two bodies when a collision occurs.
std::map< dGeomID, std::string > geomNames_
Optional map of names given to geoms. This is useful when collision checking is verbose.
virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const
Get the maximum number of contacts to set up between two colliding geoms. By default, this just returns the member variable maxContacts.
std::string getGeomName(dGeomID geom) const
Get the name of a body.
void setGeomName(dGeomID geom, const std::string &name)
Set the name of a body.
virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
Parameters to set when contacts are created between geom1 and geom2.