37 #include "ompl/extensions/opende/OpenDEEnvironment.h"
38 #include <boost/lexical_cast.hpp>
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;
62 std::map<dGeomID, std::string>::const_iterator it = geomNames_.find(geom);
63 if (it == geomNames_.end())
64 return boost::lexical_cast<std::string>(reinterpret_cast<unsigned long>(geom));
71 geomNames_[geom] = name;