[ompl] 02/16: Restored deleted upstream files by maintainer
Leopold Palomo-Avellaneda
leo at alaxarxa.net
Tue Sep 15 15:09:39 UTC 2015
This is an automated email from the git hooks/post-receive script.
lepalom-guest pushed a commit to branch master
in repository ompl.
commit 32ae14fd93b5ccbd2191f3d91da92a282d26ab96
Author: Leopold Palomo-Avellaneda <leopold.palomo at upc.edu>
Date: Thu Sep 3 10:49:38 2015 +0200
Restored deleted upstream files by maintainer
---
doc/markdown/api_overview.md | 312 +++++++++++++++++++++++++++++++++
py-bindings/ompl/bindings_generator.py | 214 ++++++++++++++++++++++
2 files changed, 526 insertions(+)
diff --git a/doc/markdown/api_overview.md b/doc/markdown/api_overview.md
new file mode 100644
index 0000000..242aa8a
--- /dev/null
+++ b/doc/markdown/api_overview.md
@@ -0,0 +1,312 @@
+# API Overview
+
+\htmlonly
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+ <polygon points="278.999,450 274.934,440.051 278.999,442.412 283.063,440.051 "/>
+ </g>
+</g>
+<a xlink:href="classompl_1_1base_1_1OptimizationObjective.html" >
+ <g>
+ <a xlink:href="classompl_1_1base_1_1OptimizationObjective.html" >
+ <path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.008,2.008" d="M540,319.292
+ c0,5.779-8.061,10.465-18,10.465H396c-9.942,0-18-4.686-18-10.465v-26.16c0-5.779,8.058-10.465,18-10.465h126
+ c9.939,0,18,4.686,18,10.465V319.292z"/>
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+ <text transform="matrix(1 0 0 1 395.7285 297.2949)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">OptimizationObjective</tspan><tspan x="126.686" y="0" font-family="'Helvetica'" font-size="10"> </tspan><tspan x="3.307" y="12" font-family="'Helvetica'" font-size="10">Encodes a path cost that is </tspan><tspan x="-0.026" y="24" font-family="'Helvetica'" font-size="10">used by optimizing planners.</tspan></text>
+ </g>
+</a>
+<g>
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+ </g>
+</g>
+</svg>
+
+\endhtmlonly
+
+The class ownership diagram above shows the relationship between the essential base classes in OMPL. For example, __SpaceInformation__ owns a __StateSpace__; __Planner__ does _not_ own __SpaceInformation__, although a __Planner__ does know about the __SpaceInformation__, and uses provided functionality. Users are encouraged to use the __SimpleSetup__ class (ompl::geometric::SimpleSetup or ompl::control::SimpleSetup). With this class, it is only necessary to instantiate a ompl::base::Stat [...]
+
+The ompl::base::StateValidityChecker is problem-specific, so no default implementation is available. See [this document](stateValidation.html) for more information on state validity checking. For more advanced definitions of goals, see [this document](goalRepresentation.html).
+
+#### Doxygen-generated documentation
+
+- [Namespace List](namespaces.html)
+- [Class List](annotated.html)
+
+#### Thread safety
+All static, non-member or const member functions are thread safe. Calling member functions that are not const in multiple threads simultaneously is unsafe and locks should be used.
+
+#### Memory management
+
+For all base classes __Class__, a __ClassPtr__ type is defined as well. __ClassPtr__ is in fact a [boost shared pointer](http://wiki.inkscape.org/wiki/index.php/Boost_shared_pointers) for __Class__:
+
+~~~{.cpp}
+class Class;
+typedef boost::shared_ptr<Class> ClassPtr;
+~~~
+
+The code above is generated by the OMPL_CLASS_FORWARD macro defined in ompl/util/ClassForward.h:
+
+~~~{.cpp}
+OMPL_CLASS_FORWARD(Class);
+~~~
+
+Often the user is required to operate with \b *Ptr variables, in order to ensure all memory is freed at the termination of the program without explicitly calling \c delete. For some classes internal to the library, a C-style pointer is maintained instead of the \b *Ptr variable to avoid cyclic dependencies (which prevent memory de-allocation).
diff --git a/py-bindings/ompl/bindings_generator.py b/py-bindings/ompl/bindings_generator.py
new file mode 100644
index 0000000..cda5f57
--- /dev/null
+++ b/py-bindings/ompl/bindings_generator.py
@@ -0,0 +1,214 @@
+######################################################################
+# 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
+
+import logging
+from os.path import exists, join, isdir
+from os import getenv
+import subprocess
+from sys import platform
+from pygccxml import declarations
+from pyplusplus import module_builder, messages
+from pyplusplus.module_builder import call_policies
+from pyplusplus.decl_wrappers import print_declarations
+
+# disable some warnings that are mostly harmless
+messages.disable( messages.W1014 )
+messages.disable( messages.W1023 )
+messages.disable( messages.W1040 )
+
+# create a dictionary called "default_replacement" that can be used to replace method
+# declaration with another method. The dictionary is indexed by method name,
+# either with or without full scope. For each method there is a 2-tuple. The
+# first component is a string that tells Boost.Python how to export the
+# replacement method. The second component is a string that contains the C++
+# code for the replacement method.
+default_replacement = {}
+# A C++ call like "foo.print(std::cout)" will be replaced with something more
+# pythonesque using the special __str__ method: "print(foo)"
+default_replacement['print'] = ('def("__str__", &__str__)', """
+std::string __str__(%s* obj)
+{
+ std::ostringstream s;
+ obj->print(s);
+ return s.str();
+}
+""")
+# A C++ call like "foo.printSettings(std::cout)" will be replaced with
+# something more pythonesque: "print(foo.settings())"
+default_replacement['printSettings'] = ('def("settings", &__printSettings)', """
+std::string __printSettings(%s* obj)
+{
+ std::ostringstream s;
+ obj->printSettings(s);
+ return s.str();
+}
+""")
+
+# add array read access to objects that can return a const reference using the
+# [] operator.
+default_replacement['array_read_access'] = ('def("__getitem__", &__getitem)',"""
+%s __getitem(%s* obj, unsigned int i)
+{
+ return (*obj)[i];
+}
+""")
+# add array write access to objects that can return a non-const reference
+# using the [] operator.
+default_replacement['array_write_access'] = ('def("__setitem__", &__setitem)',"""
+void __setitem(%s* obj, unsigned int i, %s val)
+{
+ (*obj)[i] = val;
+}
+""")
+
+def returns_reference(decl):
+ """Return True iff the declaration returns a pointer or reference."""
+ c = decl.return_type.decl_string[-1]
+ return c=='&' or c=='*'
+
+class code_generator_t(object):
+ """The base class code generator."""
+
+ def __init__(self, name, deps=None, replacement_dict=default_replacement, indexing_suite_version = 2):
+ """Constructor.
+ @name name of the python module
+ @dep name of another module this module depends on"""
+ module_builder.set_logger_level( logging.INFO )
+ candidate_include_paths = [ "/Users/mmoll/omplapp/ompl/src", "/Users/mmoll/omplapp/src",
+ "/opt/local/Library/Frameworks/Python.framework/Versions/3.4/include/python3.4m", "/opt/local/include", "/opt/local/include", ""]
+
+ # Adding standard windows headers
+ if platform == 'win32':
+ compiler = getenv('GCCXML_COMPILER')
+ # MinGW
+ if compiler != None and (compiler.lower().endswith('g++') or compiler.lower().endswith('c++')):
+ version = subprocess.Popen([compiler, '-dumpversion'],
+ stdout=subprocess.PIPE).communicate()[0].strip()
+ # Find whole path to MinGW
+ compiler_path = ""
+ for path in getenv('PATH').split(';'):
+ if exists(join(path, compiler + '.exe')):
+ compiler_path = path
+ break
+
+ if compiler_path is not "":
+ # Adding in necessary include paths
+ candidate_include_paths.append (join(compiler_path, "..", "include"))
+ candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include"))
+ candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include", "c++"))
+ candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include", "c++", "mingw32"))
+
+ include_paths = []
+ for path in candidate_include_paths:
+ if len(path)>0 and exists(path):
+ include_paths.append(path)
+ self.mb = module_builder.module_builder_t(
+ files = [ 'bindings/' + name + '.h' ],
+ cache = '/Users/mmoll/build/omplapp/Release/pyplusplus_'+name+'.cache',
+ gccxml_path = "/opt/local/bin/gccxml",
+ include_paths = include_paths,
+ cflags="-m64",
+ indexing_suite_version = indexing_suite_version )
+ self.replacement = {} if replacement_dict==None else replacement_dict
+ self.mb.classes().always_expose_using_scope = True
+ self.mb.add_registration_code('PyEval_InitThreads();', tail=False)
+ self.std_ns = self.mb.namespace('std')
+ self.ompl_ns = self.mb.namespace('ompl')
+ self.call_policies()
+ self.filter_declarations()
+ if deps!=None:
+ for dep in deps:
+ self.mb.register_module_dependency(dep)
+ self.mb.build_code_creator( module_name='_'+name )
+ self.mb.split_module('bindings/' + name, use_files_sum_repository=True)
+
+ def call_policies(self):
+ """Define default call policies: for anything that returns a reference,
+ return a reference to the existing object. This is potentially dangerous."""
+ decllist = [ self.mb.member_functions(returns_reference),
+ self.mb.free_functions(returns_reference),
+ self.mb.operators(returns_reference) ]
+ for decls in decllist:
+ for decl in decls:
+ if decl.return_type.decl_string[-7:]=='const &':
+ decl.call_policies = \
+ call_policies.return_value_policy(
+ call_policies.copy_const_reference)
+ else:
+ decl.call_policies = \
+ call_policies.return_value_policy(
+ call_policies.reference_existing_object)
+
+ def filter_declarations(self):
+ """Remove some classes and functions from the std namespace"""
+ self.std_ns.class_('ios_base').exclude()
+ self.std_ns.free_functions().exclude()
+ self.std_ns.operators().exclude()
+
+ def replace_member_function(self, decl):
+ """Utility function to replace a declaration."""
+ decl.exclude()
+ cls = decl.parent
+
+ self.mb.logger.info('Replacing member function ' + cls.decl_string+'::'+decl.name)
+ try:
+ (reg, wrapper) = self.replacement[cls.decl_string+'::'+decl.name]
+ except KeyError:
+ (reg, wrapper) = self.replacement[decl.name]
+ cls.add_registration_code(reg)
+ cls.add_declaration_code(wrapper % cls.decl_string)
+
+ def replace_member_functions(self, decls):
+ """Utility function to replace multiple declarations."""
+ for decl in decls:
+ self.replace_member_function(decl)
+
+ def add_array_access(self, cls, rettype=None):
+ """Add array indexing to a class."""
+ op = cls.operators("[]")
+ op.exclude()
+ self.mb.logger.info('Adding array access to class ' + cls.decl_string)
+ (reg, wrapper) = self.replacement['array_read_access']
+ cls.add_registration_code(reg)
+ if not rettype: rettype=op[0].return_type.decl_string
+ cls.add_declaration_code(wrapper % (rettype, cls.decl_string))
+ (reg, wrapper) = self.replacement['array_write_access']
+ cls.add_registration_code(reg)
+ cls.add_declaration_code(wrapper % (cls.decl_string, rettype))
+
+ def add_boost_function(self, FT, func_name, func_doc):
+ self.mb.add_declaration_code('PYDECLARE_FUNCTION(%s,%s)' % (FT, func_name))
+ self.mb.add_registration_code('PYREGISTER_FUNCTION(%s,%s,"%s")' % (FT, func_name, func_doc))
--
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