ompl_py_geometric.h 2.92 KB
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/* 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"
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#include "ompl/geometric/planners/bitstar/BITstar.h"
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#include <deque>
#include <map>
#include <boost/graph/adjacency_list.hpp>
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#include "py_std_function.hpp"
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namespace ompl
{
    namespace geometric
    {
        inline int dummyFn() { return 1; }
        inline int dummyConnectionStrategy()
        {
            NearestNeighborsLinear<PRM::Vertex> nn;
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            std::shared_ptr<NearestNeighbors<PRM::Vertex> > nnPtr(&nn);
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            return sizeof(KStrategy<PRM::Vertex>(1, nnPtr)) + sizeof(KStarStrategy<PRM::Vertex>(dummyFn, nnPtr, 1)) + sizeof(nn);
        }
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        inline int dummySTLContainerSize()
        {
            return sizeof(std::deque<ompl::base::State*>) +
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                sizeof(std::map<boost::adjacency_list<>::vertex_descriptor, ompl::base::State*>) +
                sizeof(std::vector<const ompl::base::State*>) +
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                sizeof(std::vector< std::shared_ptr<ompl::geometric::BITstar::Vertex> >);
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        }
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    }
}

#endif