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);
}
""")
replacement['printResultsInfo'] = ('def("printResultsInfo", &__printResultsInfo)', """
std::string __printResultsInfo(%s* obj)
{
std::ostringstream s;
obj->printResultsInfo(s);
return s.str();
}
""")
replacement['printLogs'] = ('def("printLogs", &__printLogs)', """
std::string __printLogs(%s* obj)
{
std::ostringstream s;
obj->printLogs(s);
return s.str();
}
""")
replacement['saveDataLog'] = ('def("saveDataLog", &__saveDataLog)', """
std::string __saveDataLog(%s* obj)
{
std::ostringstream s;
obj->saveDataLog(s);
return s.str();
}
""")
replacement['setPlannerSwitchEvent'] = (
'def("setPlannerSwitchEvent", &__setPlannerSwitchEvent)', """
void __setPlannerSwitchEvent(%s* obj, std::function<void(ompl::base::PlannerPtr)> event)
{
obj->setPlannerSwitchEvent(event);
}
""")
replacement['setPreRunEvent'] = ('def("setPreRunEvent", &__setPreRunEvent)', """
void __setPreRunEvent(%s* obj, std::function<void(ompl::base::PlannerPtr)> event)
{
obj->setPreRunEvent(event);
}
""")
replacement['setPostRunEvent'] = ('def("setPostRunEvent", &__setPostRunEvent)', """
void __setPostRunEvent(%s* obj,
std::function<void(ompl::base::PlannerPtr, ompl::tools::Benchmark::RunProperties &)> event)
{
obj->setPostRunEvent(event);
}
""")
code_generator_t.__init__(self, 'tools', \
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'], \
replacement, 1)
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['::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 __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 __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)
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();
}
""")
code_generator_t.__init__(self, 'control', ['bindings/util', 'bindings/base', 'bindings/geometric'], replacement)
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);
}
""")
replacement['printResultsInfo'] = ('def("printResultsInfo", &__printResultsInfo)', """
std::string __printResultsInfo(%s* obj)
{
std::ostringstream s;
obj->printResultsInfo(s);
return s.str();
}
""")
replacement['printLogs'] = ('def("printLogs", &__printLogs)', """
std::string __printLogs(%s* obj)
{
std::ostringstream s;
obj->printLogs(s);
return s.str();
}
""")
replacement['saveDataLog'] = ('def("saveDataLog", &__saveDataLog)', """
std::string __saveDataLog(%s* obj)
{
std::ostringstream s;
obj->saveDataLog(s);
return s.str();
}
""")
code_generator_t.__init__(self, 'tools', \
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'], \
replacement, 1)
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 __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);
}
""")
replacement['printResultsInfo'] = ('def("printResultsInfo", &__printResultsInfo)', """
std::string __printResultsInfo(%s* obj)
{
std::ostringstream s;
obj->printResultsInfo(s);
return s.str();
}
""")
replacement['printLogs'] = ('def("printLogs", &__printLogs)', """
std::string __printLogs(%s* obj)
{
std::ostringstream s;
obj->printLogs(s);
return s.str();
}
""")
replacement['saveDataLog'] = ('def("saveDataLog", &__saveDataLog)', """
std::string __saveDataLog(%s* obj)
{
std::ostringstream s;
obj->saveDataLog(s);
return s.str();
}
""")
code_generator_t.__init__(self, 'tools',
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'], replacement, 1)
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 __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'morse', \
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'], \
replacement)
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'util', None, replacement, 1)
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())"
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 Eigen::Ref<Eigen::VectorXd> &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();
}
""")
# "Atlas::printPLY(std::cout)" will be replaced with
# something more pythonesque: "print(PlannerData.printGraphviz())"
replacement['::ompl::base::AtlasStateSpace::printPLY'] = \
('def("printPLY", &__printPLY)', """
std::string __printPLY(%s* obj)
{
std::ostringstream s;
obj->printPLY(s);
return s.str();
}
""")
code_generator_t.__init__(self, 'base', ['bindings/util'], replacement)
def __init__(self):
code_generator_t.__init__(self, 'app', [
'../ompl/py-bindings/bindings/base',
'../ompl/py-bindings/bindings/geometric',
'../ompl/py-bindings/bindings/control'
])
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'util', None, replacement, 1)
def __init__(self):
code_generator_t.__init__(self, 'app',
['../ompl/py-bindings/bindings/base',
'../ompl/py-bindings/bindings/geometric',
'../ompl/py-bindings/bindings/control'])
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'morse',
['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'],
replacement)
def __init__(self):
replacement = default_replacement
code_generator_t.__init__(self, 'rrtstar',
[join(ompl_binding_dir, 'bindings/geometric')], replacement)
