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|
#!/usr/bin/env python
######################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Rice University
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Rice University nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
######################################################################
# Author: Mark Moll
from sys import argv, setrecursionlimit
from pygccxml import declarations
from pyplusplus.module_builder import call_policies
from ompl.bindings_generator import code_generator_t, default_replacement
class ompl_base_generator_t(code_generator_t):
"""Class for generating the ompl.base python module."""
def __init__(self):
replacement = default_replacement
# special case for abstract base class Path with pure virtual print method:
replacement['::ompl::base::Path::print'] = ('def("__str__", bp::pure_virtual(&__str__))', """
std::string __str__(%s* obj)
{
std::ostringstream s;
obj->print(s);
return s.str();
}
""")
# A C++ call like "foo.printState(state, std::cout)" will be replaced with
# something more pythonesque: "print(foo.string(state))"
replacement['printState'] = ('def("string", &__printState)', """
std::string __printState(%s* space, ompl::base::State* state)
{
std::ostringstream s;
space->printState(state, s);
return s.str();
}
""")
# A C++ call like "foo.printProperties(std::cout)" will be replaced with
# something more pythonesque: "print(foo.properties())"
default_replacement['printProperties'] = ('def("properties", &__printProperties)', """
std::string __printProperties(%s* obj)
{
std::ostringstream s;
obj->printProperties(s);
return s.str();
}
""")
# A C++ call like "foo.printProjections(std::cout)" will be replaced with
# something more pythonesque: "print(foo.projections())"
replacement['printProjections'] = ('def("projections", &__printProjections)', """
std::string __printProjections(%s* obj)
{
std::ostringstream s;
obj->printProjections(s);
return s.str();
}
""")
# A C++ call like "foo.printProjection(projection, std::cout)" will be replaced with
# something more pythonesque: "print(foo.projection())"
replacement['printProjection'] = ('def("projection", &__printProjection)', """
std::string __printProjection(%s* obj, const ompl::base::EuclideanProjection &projection)
{
std::ostringstream s;
obj->printProjection(projection, s);
return s.str();
}
""")
# "StateSpace::Diagram(std::cout)" will be replaced with
# something more pythonesque: "print(StateSpace.Diagram())"
replacement['::ompl::base::StateSpace::Diagram'] = ('def("Diagram", &DiagramWrapper)', """
std::string DiagramWrapper(%s* obj)
{
std::ostringstream s;
obj->Diagram(s);
return s.str();
}
""")
# "StateSpace::List(std::cout)" will be replaced with
# something more pythonesque: "print(StateSpace.List())"
replacement['::ompl::base::StateSpace::List'] = ('def("List", &ListWrapper)', """
std::string ListWrapper(%s* obj)
{
std::ostringstream s;
obj->List(s);
return s.str();
}
""")
# "PlannerData::printGraphML(std::cout)" will be replaced with
# something more pythonesque: "print(PlannerData.printGraphML())"
replacement['::ompl::base::PlannerData::printGraphML'] = ('def("printGraphML", &__printGraphML)', """
std::string __printGraphML(%s* obj)
{
std::ostringstream s;
obj->printGraphML(s);
return s.str();
}
""")
# "PlannerData::printGraphviz(std::cout)" will be replaced with
# something more pythonesque: "print(PlannerData.printGraphviz())"
replacement['::ompl::base::PlannerData::printGraphviz'] = ('def("printGraphviz", &__printGraphviz)', """
std::string __printGraphviz(%s* obj)
{
std::ostringstream s;
obj->printGraphviz(s);
return s.str();
}
""")
code_generator_t.__init__(self, 'base', ['bindings/util'], replacement)
def filter_declarations(self):
# force ProblemDefinition to be included, because it is used by other modules
self.ompl_ns.class_('ProblemDefinition').include()
# force the abstract base class Path to be included, because it is used by other modules
self.ompl_ns.class_('Path').include()
code_generator_t.filter_declarations(self)
# rename STL vectors of certain types
self.std_ns.class_('map< std::string, boost::shared_ptr< ompl::base::ProjectionEvaluator > >').rename('mapStringToProjectionEvaluator')
self.std_ns.class_('vector< ompl::base::State* >').rename('vectorState')
try:
self.std_ns.class_('vector< ompl::base::State const* >').rename('vectorConstState')
except: pass
self.std_ns.class_('vector< boost::shared_ptr<ompl::base::StateSpace> >').rename('vectorStateSpacePtr')
#self.std_ns.class_('vector< <ompl::base::PlannerSolution> >').rename('vectorPlannerSolution')
self.std_ns.class_('map< std::string, boost::shared_ptr<ompl::base::GenericParam> >').rename('mapStringToGenericParam')
self.std_ns.class_('map< std::string, ompl::base::StateSpace::SubstateLocation >').rename('mapStringToSubstateLocation')
self.std_ns.class_('vector<ompl::base::PlannerSolution>').rename('vectorPlannerSolution')
# rename some templated types
self.ompl_ns.class_('SpecificParam< bool >').rename('SpecificParamBool')
self.ompl_ns.class_('SpecificParam< char >').rename('SpecificParamChar')
self.ompl_ns.class_('SpecificParam< int >').rename('SpecificParamInt')
self.ompl_ns.class_('SpecificParam< unsigned int >').rename('SpecificParamUint')
self.ompl_ns.class_('SpecificParam< float >').rename('SpecificParamFloat')
self.ompl_ns.class_('SpecificParam< double >').rename('SpecificParamDouble')
self.ompl_ns.class_('SpecificParam< std::string >').rename('SpecificParamString')
for cls in self.ompl_ns.classes(lambda decl: decl.name.startswith('SpecificParam')):
cls.constructors().exclude()
# don't export variables that need a wrapper
self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
# force StateSpace::allocState to be exported.
# (not sure why this is necessary)
allocStateFn = self.ompl_ns.class_('StateSpace').member_function('allocState')
allocStateFn.include()
allocStateFn.call_policies = \
call_policies.return_value_policy(call_policies.reference_existing_object)
# rename the abstract base class State to AbstractState
state = self.ompl_ns.class_('State')
state.rename('AbstractState')
# don't export components which is of type State**
state = self.ompl_ns.class_('CompoundState')
state.variable('components').exclude()
state.rename('CompoundStateInternal')
# rename a ScopedState<> to State
bstate = self.ompl_ns.class_('ScopedState< ompl::base::StateSpace >')
bstate.rename('State')
bstate.operator('=', arg_types=['::ompl::base::State const &']).exclude()
# add array access to double components of state
self.add_array_access(bstate,'double')
# loop over all predefined state spaces
for stype in ['Compound', 'RealVector', 'SO2', 'SO3', 'SE2', 'SE3', 'Discrete', 'Time', 'Dubins', 'ReedsShepp']:
# create a python type for each of their corresponding state types
state = self.ompl_ns.class_('ScopedState< ompl::base::%sStateSpace >' % stype)
state.rename(stype+'State')
state.operator('=', arg_types=['::ompl::base::State const &']).exclude()
# add a constructor that allows, e.g., an SE3State to be constructed from a State
state.add_registration_code(
'def(bp::init<ompl::base::ScopedState<ompl::base::StateSpace> const &>(( bp::arg("other") )))')
# mark the space statetype as 'internal' to emphasize that it
# shouldn't typically be used by a regular python user
if stype!='Dubins' and stype!='ReedsShepp':
self.ompl_ns.class_(stype + 'StateSpace').decls('StateType').rename(
stype + 'StateInternal')
# add a constructor that allows, e.g., a State to be constructed from a SE3State
bstate.add_registration_code(
'def(bp::init<ompl::base::ScopedState<ompl::base::%sStateSpace> const &>(( bp::arg("other") )))' % stype)
# add array access to double components of state
self.add_array_access(state,'double')
# I don't know how to export a C-style array of an enum type
for stype in ['Dubins', 'ReedsShepp']:
self.ompl_ns.enumeration(stype + 'PathSegmentType').exclude()
self.ompl_ns.class_(stype + 'Path').exclude()
self.ompl_ns.class_(stype + 'StateSpace').member_function(
stype[0].lower()+stype[1:]).exclude()
# don't expose these utility functions that return double*
self.ompl_ns.member_functions('getValueAddressAtIndex').exclude()
self.ompl_ns.member_functions('getValueAddressAtName').exclude()
self.ompl_ns.member_functions('getValueAddressAtLocation').exclude()
# don't export vector<ValueLocation>
self.ompl_ns.member_functions('getValueLocations').exclude()
# don't export map<std::string, ValueLocation>
self.ompl_ns.member_functions('getValueLocationsByName').exclude()
# don't expose double*
self.ompl_ns.class_('RealVectorStateSpace').class_(
'StateType').variable('values').exclude()
try:
stateStorage = self.ompl_ns.class_('StateStorage')
stateStorage.member_function('getStateSamplerAllocatorRange').exclude()
stateStorage.add_registration_code('def("getStateSamplerAllocatorRange", &ompl::base::StateStorage::getStateSamplerAllocatorRange)')
except:
pass
cls = self.ompl_ns.class_('PlannerStatus')
# rename to something more memorable than the default Py++ name for
# the casting operator:
# as__scope_ompl_scope_base_scope_PlannerStatus_scope_StatusType
cls.operator(lambda decl: decl.name=='operator ::ompl::base::PlannerStatus::StatusType').rename('getStatus')
# for python 2.x
cls.add_registration_code(
'def("__nonzero__", &ompl::base::PlannerStatus::operator bool)')
# for python 3.x
cls.add_registration_code(
'def("__bool__", &ompl::base::PlannerStatus::operator bool)')
# Exclude PlannerData::getEdges function that returns a map of PlannerDataEdge* for now
#self.ompl_ns.class_('PlannerData').member_functions('getEdges').exclude()
#self.std_ns.class_('map< unsigned int, ompl::base::PlannerDataEdge const*>').include()
mapUintToPlannerDataEdge_cls = self.std_ns.class_('map< unsigned int, ompl::base::PlannerDataEdge const*>')
mapUintToPlannerDataEdge_cls.rename('mapUintToPlannerDataEdge')
mapUintToPlannerDataEdge_cls.indexing_suite.call_policies = \
call_policies.return_value_policy(call_policies.reference_existing_object)
# Remove Boost.Graph representation from PlannerData
self.ompl_ns.class_('PlannerData').member_functions('toBoostGraph').exclude()
# Make PlannerData printable
self.replace_member_function(self.ompl_ns.class_('PlannerData').member_function('printGraphviz'))
self.replace_member_function(self.ompl_ns.class_('PlannerData').member_function('printGraphML'))
# add array indexing to the RealVectorState
self.add_array_access(self.ompl_ns.class_('RealVectorStateSpace').class_('StateType'))
# typedef's are not handled by Py++, so we need to explicitly rename uBLAS vector to EuclideanProjection
cls = self.mb.namespace('ublas').class_(
'vector<double, boost::numeric::ublas::unbounded_array<double, std::allocator<double> > >')
cls.include()
cls.rename('EuclideanProjection')
cls.member_functions().exclude()
cls.operators().exclude()
self.add_array_access(cls,'double')
# make objects printable that have a print function
self.replace_member_functions(self.ompl_ns.member_functions('print'))
# handle special case (abstract base class with pure virtual method)
self.ompl_ns.class_('Path').add_wrapper_code(
'virtual void print(std::ostream&) const {}')
# make settings printable
self.replace_member_functions(self.ompl_ns.member_functions('printSettings'))
# make properties printable
self.replace_member_functions(self.ompl_ns.member_functions('printProperties'))
# make states printable
self.replace_member_functions(self.ompl_ns.member_functions('printState'))
# make list of available projections printable
self.replace_member_functions(self.ompl_ns.member_functions('printProjections'))
# make projections printable
self.replace_member_functions(self.ompl_ns.member_functions('printProjection'))
# make state space diagram printable
self.replace_member_function(self.ompl_ns.class_('StateSpace').member_function('Diagram'))
# make state space list printable
self.replace_member_function(self.ompl_ns.class_('StateSpace').member_function('List'))
# add wrappers for boost::function types
self.add_boost_function('bool(const ompl::base::GoalLazySamples*, ompl::base::State*)',
'GoalSamplingFn', 'Goal sampling function')
self.add_boost_function('void(const ompl::base::State*)',
'NewStateCallbackFn', 'New state callback function')
self.add_boost_function('ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr&)',
'PlannerAllocator', 'Planner allocator')
self.add_boost_function('bool()',
'PlannerTerminationConditionFn','Planner termination condition function')
self.add_boost_function('bool(const ompl::base::State*)',
'StateValidityCheckerFn', 'State validity checker function')
self.add_boost_function('ompl::base::StateSamplerPtr(const ompl::base::StateSpace*)',
'StateSamplerAllocator', 'State sampler allocator')
self.add_boost_function('ompl::base::ValidStateSamplerPtr(ompl::base::SpaceInformation const*)',
'ValidStateSamplerAllocator', 'Valid state allocator function')
self.add_boost_function('double(const ompl::base::PlannerDataVertex&, const ompl::base::PlannerDataVertex&, const ompl::base::PlannerDataEdge&)',
'EdgeWeightFn', 'Edge weight function')
self.add_boost_function('ompl::base::Cost(const ompl::base::State*, const ompl::base::Goal*)',
'CostToGoHeuristic', 'Cost-to-go heuristic for optimizing planners')
self.add_boost_function('std::string()', 'PlannerProgressProperty',
'Function that returns stringified value of a property while a planner is running')
# rename SamplerSelectors
self.ompl_ns.class_('SamplerSelector< ompl::base::StateSampler >').rename('StateSamplerSelector')
self.ompl_ns.class_('SamplerSelector< ompl::base::ValidStateSampler >').rename('ValidStateSamplerSelector')
try:
cls = self.ompl_ns.class_('StateStorage').member_functions('load')
self.ompl_ns.class_('StateStorage').member_function('load', arg_types=['::std::istream &']).exclude()
self.ompl_ns.class_('StateStorage').member_function('store', arg_types=['::std::ostream &']).exclude()
except:
pass
class ompl_control_generator_t(code_generator_t):
def __init__(self):
replacement = default_replacement
# A C++ call like "foo.printControl(control, std::cout)" will be replaced with
# something more pythonesque: "print(foo.string(control))"
replacement['printControl'] = ('def("string", &__printControl)', """
std::string __printControl(%s* space, ompl::control::Control* control)
{
std::ostringstream s;
space->printControl(control, s);
return s.str();
}
""")
replacement['printAsMatrix'] = ('def("printAsMatrix", &__printAsMatrix)', """
std::string __printAsMatrix(%s* path)
{
std::ostringstream s;
path->printAsMatrix(s);
return s.str();
}
""")
replacement['::ompl::control::ODESolver::getStatePropagator'] = ("""
def("getStatePropagator", &getStatePropagator1);
ODESolver_exposer.def("getStatePropagator", &getStatePropagator2);
ODESolver_exposer.staticmethod( "getStatePropagator" )""", """
// %s
ompl::control::StatePropagatorPtr getStatePropagator2(ompl::control::ODESolverPtr solver,
const ompl::control::ODESolver::PostPropagationEvent &postEvent)
{
return ompl::control::ODESolver::getStatePropagator(solver, postEvent);
}
ompl::control::StatePropagatorPtr getStatePropagator1(ompl::control::ODESolverPtr solver)
{
return ompl::control::ODESolver::getStatePropagator(solver);
}
""")
code_generator_t.__init__(self, 'control', ['bindings/util', 'bindings/base', 'bindings/geometric'], replacement)
def filter_declarations(self):
code_generator_t.filter_declarations(self)
# rename STL vectors of certain types
self.std_ns.class_('vector< ompl::control::Control* >').rename('vectorControlPtr')
# don't export variables that need a wrapper
self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
# force ControlSpace::allocControl to be exported.
# (not sure why this is necessary)
allocControlFn = self.ompl_ns.class_('ControlSpace').member_function('allocControl')
allocControlFn.include()
allocControlFn.call_policies = \
call_policies.return_value_policy(call_policies.reference_existing_object)
# don't export components which is of type Control**
self.ompl_ns.class_('CompoundControl').variable('components').exclude()
# don't export some internal data structure
self.ompl_ns.class_('OrderCellsByImportance').exclude()
# don't expose this utility function
self.ompl_ns.member_functions('getValueAddressAtIndex').exclude()
self.ompl_ns.class_('KPIECE1').member_functions('freeGridMotions').exclude()
# add array indexing to the RealVectorState
self.add_array_access(self.ompl_ns.class_('RealVectorControlSpace').class_('ControlType'))
# make objects printable that have a print function
self.replace_member_functions(self.ompl_ns.member_functions('print'))
# make settings printable
self.replace_member_functions(self.ompl_ns.member_functions('printSettings'))
# make controls printable
self.replace_member_functions(self.ompl_ns.member_functions('printControl'))
# print paths as matrices
self.replace_member_functions(self.ompl_ns.member_functions('printAsMatrix'))
try:
# export ODESolver-derived classes that use Boost.OdeInt
for odesolver in ['ODEBasicSolver', 'ODEErrorSolver', 'ODEAdaptiveSolver']:
self.ompl_ns.class_(lambda cls: cls.name.startswith(odesolver)).rename(odesolver)
# Somehow, Py++ changes the type of the ODE's first argument. Weird...
self.add_boost_function('void(ompl::control::ODESolver::StateType, const ompl::control::Control*, ompl::control::ODESolver::StateType &)',
'ODE','Ordinary differential equation')
# workaround for default argument for PostPropagationEvent
self.replace_member_function(self.ompl_ns.class_('ODESolver').member_function(
'getStatePropagator'))
except declarations.matcher.declaration_not_found_t:
# not available for boost < 1.44, so ignore this
pass
# LLVM's clang++ compiler doesn't like exporting this method because
# the argument type (Grid::Cell) is protected
self.ompl_ns.member_functions('computeImportance').exclude()
# export pure virtual member functions, otherwise code doesn't compile
syclop = self.ompl_ns.class_('Syclop')
syclop.add_wrapper_code("""
virtual ompl::control::Syclop::Motion* addRoot(const ompl::base::State* s)
{
bp::override func_addRoot = this->get_override("addRoot");
return func_addRoot(s);
}
virtual void selectAndExtend(ompl::control::Syclop::Region& region, std::vector<ompl::control::Syclop::Motion*>& newMotions)
{
bp::override func_selectAndExtend = this->get_override("selectAndExtend");
func_selectAndExtend(region, newMotions);
}""")
# omit ompl::control::Syclop::Defaults nested subclass, otherwise
# code doesn't compile (don't know why)
syclop.class_('Defaults').exclude()
# add wrappers for boost::function types
self.add_boost_function('ompl::control::ControlSamplerPtr(const ompl::control::ControlSpace*)',
'ControlSamplerAllocator', 'Control sampler allocator')
self.add_boost_function('ompl::control::DirectedControlSamplerPtr(const ompl::control::SpaceInformation*)',
'DirectedControlSamplerAllocator','Directed control sampler allocator')
# same type as StatePropagatorFn, so no need to export this. Instead, we just define a type alias in the python module.
#self.add_boost_function('void(const ompl::base::State*, const ompl::control::Control*, const double, ompl::base::State*)',
# 'PostPropagationEvent','Post-propagation event')
self.add_boost_function('void(const ompl::base::State*, const ompl::control::Control*, const double, ompl::base::State*)',
'StatePropagatorFn','State propagator function')
self.add_boost_function('double(int, int)','EdgeCostFactorFn',
'Syclop edge cost factor function')
self.add_boost_function('void(int, int, std::vector<int>&)','LeadComputeFn',
'Syclop lead compute function')
# code generation fails because of same bug in gxxcml that requires us
# to patch the generated code with workaround_for_gccxml_bug.cmake
self.ompl_ns.member_functions('getPlannerAllocator').exclude()
self.ompl_ns.member_functions('setPlannerAllocator').exclude()
self.ompl_ns.namespace('control').class_('SimpleSetup').add_registration_code(
'def("setPlannerAllocator", &ompl::control::SimpleSetup::setPlannerAllocator)')
self.ompl_ns.namespace('control').class_('SimpleSetup').add_registration_code(
'def("getPlannerAllocator", &ompl::control::SimpleSetup::getPlannerAllocator, bp::return_value_policy< bp::copy_const_reference >())')
# do this for all classes that exist with the same name in another namespace
for cls in ['SimpleSetup', 'KPIECE1', 'PDST', 'RRT', 'EST', 'SpaceInformation', 'Syclop', 'SyclopEST', 'SyclopRRT']:
self.ompl_ns.namespace('control').class_(cls).wrapper_alias = 'Control%s_wrapper' % cls
# Py++ seems to get confused by some methods declared in one module
# that are *not* overridden in a derived class in another module. The
# Planner class is defined in ompl::base and two of its virtual methods,
# setProblemDefinition and checkValidity, and not overridden by most
# planners. The code below forces Py++ to do the right thing (or at
# least make it work). It seems rather hacky and there may be a better
# solution.
# do this for all planners
for planner in ['KPIECE1', 'PDST', 'RRT', 'EST', 'Syclop', 'SyclopEST', 'SyclopRRT']:
self.ompl_ns.class_(planner).add_registration_code("""
def("solve", (::ompl::base::PlannerStatus(::ompl::base::Planner::*)( double ))(&::ompl::base::Planner::solve), (bp::arg("solveTime")) )""")
self.ompl_ns.class_(planner).add_registration_code("""
def("setProblemDefinition",&::ompl::base::Planner::setProblemDefinition,
&Control%s_wrapper::default_setProblemDefinition, (bp::arg("pdef")) )""" % planner)
self.ompl_ns.class_(planner).add_registration_code("""
def("checkValidity",&::ompl::base::Planner::checkValidity,
&Control%s_wrapper::default_checkValidity )""" % planner)
class ompl_geometric_generator_t(code_generator_t):
def __init__(self):
replacement = default_replacement
replacement['printAsMatrix'] = ('def("printAsMatrix", &__printAsMatrix)', """
std::string __printAsMatrix(%s* path)
{
std::ostringstream s;
path->printAsMatrix(s);
return s.str();
}
""")
code_generator_t.__init__(self, 'geometric', ['bindings/util', 'bindings/base'], replacement)
def filter_declarations(self):
code_generator_t.filter_declarations(self)
# don't export variables that need a wrapper
self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
# make objects printable that have a print function
self.replace_member_functions(self.ompl_ns.member_functions('print'))
# print paths as matrices
self.replace_member_functions(self.ompl_ns.member_functions('printAsMatrix'))
self.ompl_ns.member_functions('freeGridMotions').exclude()
self.ompl_ns.class_('PRM').member_functions('haveSolution').exclude()
self.ompl_ns.class_('PRM').member_functions('growRoadmap',
function=declarations.access_type_matcher_t('protected')).exclude()
self.ompl_ns.class_('PRM').member_functions('expandRoadmap',
function=declarations.access_type_matcher_t('protected')).exclude()
# don't export some internal data structure
self.ompl_ns.classes('OrderCellsByImportance').exclude()
# LLVM's clang++ compiler doesn't like exporting this method because
# the argument type (Grid::Cell) is protected
self.ompl_ns.member_functions('computeImportance').exclude()
# add wrappers for boost::function types
self.add_boost_function('unsigned int()',
'NumNeighborsFn', 'Number of neighbors function')
# self.add_boost_function('std::vector<ompl::geometric::PRM::Vertex>&(const ompl::geometric::PRM::Vertex)',
# 'ConnectionStrategy', 'Connection strategy')
self.add_boost_function('bool(const ompl::geometric::PRM::Vertex&, const ompl::geometric::PRM::Vertex&)',
'ConnectionFilter', 'Connection filter')
# code generation fails because of same bug in gxxcml that requires us
# to patch the generated code with workaround_for_gccxml_bug.cmake
self.ompl_ns.member_functions('getPlannerAllocator').exclude()
self.ompl_ns.member_functions('setPlannerAllocator').exclude()
self.ompl_ns.namespace('geometric').class_('SimpleSetup').add_registration_code(
'def("setPlannerAllocator", &ompl::geometric::SimpleSetup::setPlannerAllocator)')
self.ompl_ns.namespace('geometric').class_('SimpleSetup').add_registration_code(
'def("getPlannerAllocator", &ompl::geometric::SimpleSetup::getPlannerAllocator, bp::return_value_policy< bp::copy_const_reference >())')
# The OMPL implementation of PRM uses two threads: one for constructing
# the roadmap and another for checking for a solution. This causes
# problems when both threads try to access the python interpreter
# simultaneously. This is a known limitation of Boost.Python. We
# therefore use a single-threaded version of PRM in python.
PRM_cls = self.ompl_ns.class_('PRM')
PRM_cls.member_function('solve').exclude()
PRM_cls.add_wrapper_code("""
virtual ::ompl::base::PlannerStatus solve( ::ompl::base::PlannerTerminationCondition const & ptc ) {
if( bp::override func_solve = this->get_override( "solve" ) )
return func_solve( boost::ref(ptc) );
else{
return default_solve( boost::ref(ptc) );
}
}
::ompl::base::PlannerStatus default_solve( ::ompl::base::PlannerTerminationCondition const & ptc );
""")
PRM_cls.add_declaration_code(open('PRM.SingleThreadSolve.cpp','r').read())
PRM_cls.add_registration_code("""def("solve",
(::ompl::base::PlannerStatus(::ompl::geometric::PRM::*)( ::ompl::base::PlannerTerminationCondition const &))(&PRM_wrapper::solve),
(::ompl::base::PlannerStatus(PRM_wrapper::*)( ::ompl::base::PlannerTerminationCondition const & ))(&PRM_wrapper::default_solve), bp::arg("ptc") )""")
# Py++ seems to get confused by some methods declared in one module
# that are *not* overridden in a derived class in another module. The
# Planner class is defined in ompl::base and two of its virtual methods,
# setProblemDefinition and checkValidity, and not overridden by most
# planners. The code below forces Py++ to do the right thing (or at
# least make it work). It seems rather hacky and there may be a better
# solution.
# do this for all planners
for planner in ['EST', 'KPIECE1', 'BKPIECE1', 'LBKPIECE1', 'PRM', 'PRMstar', 'PDST', 'LazyRRT', 'RRT', 'RRTConnect', 'TRRT', 'RRTstar', 'LBTRRT', 'SBL', 'SPARS', 'SPARStwo', 'STRIDE']:
self.ompl_ns.class_(planner).add_registration_code("""
def("solve", (::ompl::base::PlannerStatus(::ompl::base::Planner::*)( double ))(&::ompl::base::Planner::solve), (bp::arg("solveTime")) )""")
if planner!='PRM':
# PRM overrides setProblemDefinition, so we don't need to add this code
self.ompl_ns.class_(planner).add_registration_code("""
def("setProblemDefinition",&::ompl::base::Planner::setProblemDefinition,
&%s_wrapper::default_setProblemDefinition, (bp::arg("pdef")) )""" % planner)
self.ompl_ns.class_(planner).add_registration_code("""
def("checkValidity",&::ompl::base::Planner::checkValidity,
&%s_wrapper::default_checkValidity )""" % planner)
# needed to able to set connection strategy for PRM
# the PRM::Vertex type is typedef-ed to boost::graph_traits<Graph>::vertex_descriptor. This can
# be equal to an unsigned long or unsigned int, depending on architecture (or version of boost?)
try:
self.ompl_ns.class_('NearestNeighbors<unsigned long>').include()
self.ompl_ns.class_('NearestNeighbors<unsigned long>').rename('NearestNeighbors')
self.ompl_ns.class_('NearestNeighborsLinear<unsigned long>').rename('NearestNeighborsLinear')
self.ompl_ns.class_('KStrategy<unsigned long>').rename('KStrategy')
self.ompl_ns.class_('KStarStrategy<unsigned long>').rename('KStarStrategy')
except:
self.ompl_ns.class_('NearestNeighbors<unsigned int>').include()
self.ompl_ns.class_('NearestNeighbors<unsigned int>').rename('NearestNeighbors')
self.ompl_ns.class_('NearestNeighborsLinear<unsigned int>').rename('NearestNeighborsLinear')
self.ompl_ns.class_('KStrategy<unsigned int>').rename('KStrategy')
self.ompl_ns.class_('KStarStrategy<unsigned int>').rename('KStarStrategy')
class ompl_tools_generator_t(code_generator_t):
def __init__(self):
replacement = default_replacement
replacement['::ompl::tools::Benchmark::benchmark'] = ('def("benchmark", &benchmarkWrapper)', """
void benchmarkWrapper(%s* obj, const ompl::tools::Benchmark::Request& request)
{
ompl::tools::Benchmark::Request req(request);
req.useThreads = false;
obj->benchmark(request);
}
""")
code_generator_t.__init__(self, 'tools',
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'], replacement, 1)
def filter_declarations(self):
code_generator_t.filter_declarations(self)
# rename STL vectors/maps of certain types
self.std_ns.class_('vector< ompl::tools::Benchmark::PlannerExperiment >').rename('vectorPlannerExperiment')
self.std_ns.class_('vector< std::vector< std::map<std::string, std::string> > >').rename('vectorRunProgressData')
# make objects printable that have a print function
self.replace_member_functions(self.ompl_ns.member_functions('print'))
benchmark_cls = self.ompl_ns.class_('Benchmark')
self.replace_member_function(benchmark_cls.member_function('benchmark'))
# next five statements take care of weird error in default value for name argument in constructor
benchmark_cls.constructors().exclude()
benchmark_cls.add_registration_code(
'def(bp::init< ompl::geometric::SimpleSetup &, bp::optional< std::string const & > >(( bp::arg("setup"), bp::arg("name")=std::basic_string<char, std::char_traits<char>, std::allocator<char> >() )) )')
benchmark_cls.add_wrapper_code(
"""Benchmark_wrapper(::ompl::geometric::SimpleSetup & setup, const ::std::string & name=std::string() )
: ompl::tools::Benchmark( boost::ref(setup), name )
, bp::wrapper< ompl::tools::Benchmark >(){}""")
benchmark_cls.add_registration_code(
'def(bp::init< ompl::control::SimpleSetup &, bp::optional< std::string const & > >(( bp::arg("setup"), bp::arg("name")=std::basic_string<char, std::char_traits<char>, std::allocator<char> >() )) )')
benchmark_cls.add_wrapper_code(
"""Benchmark_wrapper(::ompl::control::SimpleSetup & setup, const ::std::string & name=std::string() )
: ompl::tools::Benchmark( boost::ref(setup), name )
, bp::wrapper< ompl::tools::Benchmark >(){}""")
# don't want to export iostream
benchmark_cls.member_function('saveResultsToStream').exclude()
# code generation fails because of same bug in gxxcml that requires us
# to patch the generated code with workaround_for_gccxml_bug.cmake
self.ompl_ns.member_functions('addPlannerAllocator').exclude()
benchmark_cls.member_functions(lambda method: method.name.startswith('set') and method.name.endswith('Event')).exclude()
benchmark_cls.add_registration_code(
'def("addPlannerAllocator", &ompl::tools::Benchmark::addPlannerAllocator)')
self.ompl_ns.class_('OptimizePlan').add_registration_code(
'def("addPlannerAllocator", &ompl::tools::OptimizePlan::addPlannerAllocator)')
benchmark_cls.add_registration_code(
'def("setPlannerSwitchEvent", &ompl::tools::Benchmark::setPlannerSwitchEvent)')
benchmark_cls.add_registration_code(
'def("setPreRunEvent", &ompl::tools::Benchmark::setPreRunEvent)')
benchmark_cls.add_registration_code(
'def("setPostRunEvent", &ompl::tools::Benchmark::setPostRunEvent)')
self.add_boost_function('void(const ompl::base::PlannerPtr&)',
'PreSetupEvent', 'Pre-setup event')
self.add_boost_function('void(const ompl::base::PlannerPtr&, ompl::tools::Benchmark::RunProperties&)',
'PostSetupEvent', 'Post-setup event')
benchmark_cls.class_('Request').no_init = False
class ompl_util_generator_t(code_generator_t):
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'util', None, replacement, 1)
def filter_declarations(self):
code_generator_t.filter_declarations(self)
# rename STL vectors of certain types
self.std_ns.class_('vector< unsigned long >').include()
self.std_ns.class_('vector< unsigned long >').rename('vectorSizeT')
# not needed; causes problems when compiling in C++11 mode
#self.std_ns.class_('vector< bool >').include()
#self.std_ns.class_('vector< bool >').rename('vectorBool')
self.std_ns.class_('vector< int >').include()
self.std_ns.class_('vector< int >').rename('vectorInt')
self.std_ns.class_('vector< double >').include()
self.std_ns.class_('vector< double >').rename('vectorDouble')
self.std_ns.class_('vector< unsigned int >').include()
self.std_ns.class_('vector< unsigned int >').rename('vectorUint')
self.std_ns.class_('vector< std::string >').include()
self.std_ns.class_('vector< std::string >').rename('vectorString')
self.std_ns.class_('vector< std::vector<int> >').include()
self.std_ns.class_('vector< std::vector<int> >').rename('vectorVectorInt')
self.std_ns.class_('vector< std::vector<unsigned int> >').include()
self.std_ns.class_('vector< std::vector<unsigned int> >').rename('vectorVectorUint')
self.std_ns.class_('vector< std::vector<double> >').include()
self.std_ns.class_('vector< std::vector<double> >').rename('vectorVectorDouble')
self.std_ns.class_('vector< std::map<std::string, std::string > >').include()
self.std_ns.class_('vector< std::map<std::string, std::string > >').rename('vectorMapStringToString')
self.std_ns.class_('map<std::string, std::string >').include()
self.std_ns.class_('map<std::string, std::string >').rename('mapStringToString')
self.std_ns.class_('vector< ompl::PPM::Color >').rename('vectorPPMColor')
class ompl_morse_generator_t(code_generator_t):
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'morse',
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'],
replacement)
def filter_declarations(self):
stype = 'Morse'
# create a python type for each of the corresponding state type
state = self.ompl_ns.class_('ScopedState< ompl::base::%sStateSpace >' % stype)
state.rename(stype+'State')
state.operator('=', arg_types=['::ompl::base::State const &']).exclude()
# add a constructor that allows a MorseState to be constructed from a State
state.add_registration_code(
'def(bp::init<ompl::base::ScopedState<ompl::base::StateSpace> const &>(( bp::arg("other") )))')
# add a constructor that allows, e.g., a State to be constructed from a MorseState
bstate = self.ompl_ns.class_('ScopedState< ompl::base::StateSpace >')
bstate.add_registration_code(
'def(bp::init<ompl::base::ScopedState<ompl::base::%sStateSpace> const &>(( bp::arg("other") )))' % stype)
# add array access to double components of state
self.add_array_access(state,'double')
if __name__ == '__main__':
setrecursionlimit(50000)
if len(argv)==1:
print("Usage: generatebindings.py <modulename>")
else:
for module in argv[1:]:
try:
globals()['ompl_'+module+'_generator_t']()
except KeyError:
print("Error: can't generate code for module %s" % module)
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