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/*********************************************************************
* 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 */
#ifndef PY_BINDINGS_OMPL_PY_BASE_
#define PY_BINDINGS_OMPL_PY_BASE_
#include "ompl/base/ScopedState.h"
#include "ompl/base/spaces/SE2StateSpace.h"
#include "ompl/base/spaces/SE3StateSpace.h"
#include "ompl/base/spaces/DiscreteStateSpace.h"
#include "ompl/base/spaces/TimeStateSpace.h"
#include "ompl/base/spaces/DubinsStateSpace.h"
#include "ompl/base/spaces/ReedsSheppStateSpace.h"
#include "ompl/base/Goal.h"
#include "ompl/base/PlannerData.h"
#include "py_boost_function.hpp"
#define DeclareStateType(T) \
inline int __dummy##T() \
{ \
return sizeof(ompl::base::ScopedState<T##StateSpace>) + \
sizeof(ompl::base::T##StateSpace::StateType); \
}
#define DeclareSpecificParamType(n, T) \
inline int __dummySP##n() \
{ \
return sizeof(ompl::base::SpecificParam<T>("dummy", \
ompl::base::SpecificParam<T>::SetterFn())); \
}
namespace ompl
{
namespace base
{
DeclareStateType();
DeclareStateType(Compound);
DeclareStateType(RealVector);
DeclareStateType(SO2);
DeclareStateType(SO3);
DeclareStateType(SE2);
DeclareStateType(SE3);
DeclareStateType(Discrete);
DeclareStateType(Time);
DeclareStateType(Dubins);
DeclareStateType(ReedsShepp);
DeclareSpecificParamType(0, bool);
DeclareSpecificParamType(1, char);
DeclareSpecificParamType(2, int);
DeclareSpecificParamType(3, unsigned int);
DeclareSpecificParamType(4, float);
DeclareSpecificParamType(5, double);
DeclareSpecificParamType(6, std::string);
inline int dummySTLContainerSize()
{
return sizeof(std::vector<ompl::base::PlannerSolution>)
+ sizeof(std::map<unsigned int, ompl::base::PlannerDataEdge const *>);
}
}
}
#endif
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