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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"
  #include <deque>
  #include <map>
  #include <boost/graph/adjacency_list.hpp>
  #include "py_boost_function.hpp"
  
  
  namespace ompl
  {
      namespace geometric
      {
          inline int dummyFn() { return 1; }
          inline int dummyConnectionStrategy()
          {
              NearestNeighborsLinear<PRM::Vertex> nn;
              boost::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*>);
          }
      }
  }
  
  #endif
  