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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_GEOMETRIC_
#define PY_BINDINGS_OMPL_PY_GEOMETRIC_
#include "ompl/datastructures/NearestNeighborsLinear.h"
#include "ompl/geometric/planners/prm/ConnectionStrategy.h"
#include "ompl/geometric/planners/prm/PRM.h"
#include "ompl/geometric/planners/quotientspace/QRRT.h"
#include "ompl/geometric/planners/informedtrees/BITstar.h"
#include <deque>
#include <map>
#include <boost/graph/adjacency_list.hpp>
#include "py_std_function.hpp"
namespace ompl
{
namespace geometric
{
inline int dummyFn() { return 1; }
inline int dummyConnectionStrategy()
{
NearestNeighborsLinear<PRM::Vertex> nn;
std::shared_ptr<NearestNeighbors<PRM::Vertex> > nnPtr(&nn);
return sizeof(KStrategy<PRM::Vertex>(1, nnPtr)) + sizeof(KStarStrategy<PRM::Vertex>(dummyFn, nnPtr, 1)) + sizeof(nn);
}
inline int dummySTLContainerSize()
{
return sizeof(std::deque<ompl::base::State*>) +
sizeof(std::map<boost::adjacency_list<>::vertex_descriptor, ompl::base::State*>) +
sizeof(std::vector<const ompl::base::State*>) +
sizeof(std::vector< std::shared_ptr<ompl::geometric::BITstar::Vertex> >) +
sizeof(std::vector< std::shared_ptr<ompl::base::SpaceInformation> >);
}
inline int dummyQRRTsize()
{
return sizeof(QRRT);
}
}
}
#endif
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