text: #!/usr/bin/env python
  
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  # Author: Mark Moll
  
  from sys import argv, setrecursionlimit
  from pygccxml import declarations
  from pyplusplus.module_builder import call_policies
  from ompl.bindings_generator import code_generator_t, default_replacement
  
  
  class ompl_base_generator_t(code_generator_t):
      """Class for generating the ompl.base python module."""
  
      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 filter_declarations(self):
          # force ProblemDefinition to be included, because it is used by other modules
          self.ompl_ns.class_('ProblemDefinition').include()
          # force the abstract base class Path to be included, because it is used by other modules
          self.ompl_ns.class_('Path').include()
          code_generator_t.filter_declarations(self)
          # rename STL vectors of certain types
          self.std_ns.class_('map< std::string, boost::shared_ptr< ompl::base::ProjectionEvaluator > >').rename('mapStringToProjectionEvaluator')
          if self.using_castxml:
              self.std_ns.class_('vector< ompl::base::State * >').rename('vectorState')
          else:
              self.std_ns.class_('vector< ompl::base::State* >').rename('vectorState')
          try:
              self.std_ns.class_('vector< ompl::base::State const* >').rename('vectorConstState')
          except: pass
          self.std_ns.class_('vector< boost::shared_ptr<ompl::base::StateSpace> >').rename('vectorStateSpacePtr')
          #self.std_ns.class_('vector< <ompl::base::PlannerSolution> >').rename('vectorPlannerSolution')
          self.std_ns.class_('map< std::string, boost::shared_ptr<ompl::base::GenericParam> >').rename('mapStringToGenericParam')
          self.std_ns.class_('map< std::string, ompl::base::StateSpace::SubstateLocation >').rename('mapStringToSubstateLocation')
          self.std_ns.class_('vector<ompl::base::PlannerSolution>').rename('vectorPlannerSolution')
          if self.using_castxml: self.ompl_ns.member_functions('maybeWrapBool').exclude()
          # rename some templated types
          self.ompl_ns.class_('SpecificParam< bool >').rename('SpecificParamBool')
          self.ompl_ns.class_('SpecificParam< char >').rename('SpecificParamChar')
          self.ompl_ns.class_('SpecificParam< int >').rename('SpecificParamInt')
          self.ompl_ns.class_('SpecificParam< unsigned int >').rename('SpecificParamUint')
          self.ompl_ns.class_('SpecificParam< float >').rename('SpecificParamFloat')
          self.ompl_ns.class_('SpecificParam< double >').rename('SpecificParamDouble')
          if self.using_castxml:
              self.ompl_ns.class_('SpecificParam< std::basic_string<char> >').rename('SpecificParamString')
          else:
              self.ompl_ns.class_('SpecificParam< std::string >').rename('SpecificParamString')
          for cls in self.ompl_ns.classes(lambda decl: decl.name.startswith('SpecificParam')):
              cls.constructors().exclude()
          # don't export variables that need a wrapper
          self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
          # force StateSpace::allocState to be exported.
          # (not sure why this is necessary)
          allocStateFn = self.ompl_ns.class_('StateSpace').member_function('allocState')
          allocStateFn.include()
          allocStateFn.call_policies = \
              call_policies.return_value_policy(call_policies.reference_existing_object)
          # rename the abstract base class State to AbstractState
          state = self.ompl_ns.class_('State')
          state.rename('AbstractState')
          # don't export components which is of type State**
          state = self.ompl_ns.class_('CompoundState')
          state.variable('components').exclude()
          state.rename('CompoundStateInternal')
          # rename a ScopedState<> to State
          bstate = self.ompl_ns.class_('ScopedState< ompl::base::StateSpace >')
          bstate.rename('State')
          bstate.operator('=', arg_types=['::ompl::base::State const &']).exclude()
          # add array access to double components of state
          self.add_array_access(bstate,'double')
          # loop over all predefined state spaces
          for stype in ['Compound', 'RealVector', 'SO2', 'SO3', 'SE2', 'SE3', 'Discrete', 'Time', 'Dubins', 'ReedsShepp']:
              # create a python type for each of their corresponding state types
              state = self.ompl_ns.class_('ScopedState< ompl::base::%sStateSpace >' % stype)
              state.rename(stype+'State')
              state.operator('=', arg_types=['::ompl::base::State const &']).exclude()
              # add a constructor that allows, e.g., an SE3State to be constructed from a State
              state.add_registration_code(
                  'def(bp::init<ompl::base::ScopedState<ompl::base::StateSpace> const &>(( bp::arg("other") )))')
              # mark the space statetype as 'internal' to emphasize that it
              # shouldn't typically be used by a regular python user
              if stype!='Dubins' and stype!='ReedsShepp':
                  self.ompl_ns.class_(stype + 'StateSpace').decls('StateType').rename(
                      stype + 'StateInternal')
              # add a constructor that allows, e.g., a State to be constructed from a SE3State
              bstate.add_registration_code(
                  'def(bp::init<ompl::base::ScopedState<ompl::base::%sStateSpace> const &>(( bp::arg("other") )))' % stype)
              # add array access to double components of state
              self.add_array_access(state,'double')
          # I don't know how to export a C-style array of an enum type
          for stype in ['Dubins', 'ReedsShepp']:
              self.ompl_ns.enumeration(stype + 'PathSegmentType').exclude()
              self.ompl_ns.class_(stype + 'Path').exclude()
              self.ompl_ns.class_(stype + 'StateSpace').member_function(
                  stype[0].lower()+stype[1:]).exclude()
          # don't expose these utility functions that return double*
          self.ompl_ns.member_functions('getValueAddressAtIndex').exclude()
          self.ompl_ns.member_functions('getValueAddressAtName').exclude()
          self.ompl_ns.member_functions('getValueAddressAtLocation').exclude()
          # don't export vector<ValueLocation>
          self.ompl_ns.member_functions('getValueLocations').exclude()
          # don't export map<std::string, ValueLocation>
          self.ompl_ns.member_functions('getValueLocationsByName').exclude()
          # don't expose double*
          self.ompl_ns.class_('RealVectorStateSpace').class_(
              'StateType').variable('values').exclude()
          try:
              stateStorage = self.ompl_ns.class_('StateStorage')
              stateStorage.member_function('getStateSamplerAllocatorRange').exclude()
              stateStorage.add_registration_code('def("getStateSamplerAllocatorRange", &ompl::base::StateStorage::getStateSamplerAllocatorRange)')
          except:
              pass
  
          cls = self.ompl_ns.class_('PlannerStatus')
          # rename to something more memorable than the default Py++ name for
          # the casting operator:
          # as__scope_ompl_scope_base_scope_PlannerStatus_scope_StatusType
          cls.operator(lambda decl: decl.name=='operator ::ompl::base::PlannerStatus::StatusType').rename('getStatus')
          # for python 2.x
          cls.add_registration_code(
              'def("__nonzero__", &ompl::base::PlannerStatus::operator bool)')
          # for python 3.x
          cls.add_registration_code(
              'def("__bool__", &ompl::base::PlannerStatus::operator bool)')
  
          # Exclude PlannerData::getEdges function that returns a map of PlannerDataEdge* for now
          #self.ompl_ns.class_('PlannerData').member_functions('getEdges').exclude()
          #self.std_ns.class_('map< unsigned int, ompl::base::PlannerDataEdge const*>').include()
          if self.using_castxml:
              mapUintToPlannerDataEdge_cls = self.std_ns.class_('map< unsigned int, const ompl::base::PlannerDataEdge *>')
          else:
              mapUintToPlannerDataEdge_cls = self.std_ns.class_('map< unsigned int, ompl::base::PlannerDataEdge const*>')
          mapUintToPlannerDataEdge_cls.rename('mapUintToPlannerDataEdge')
          mapUintToPlannerDataEdge_cls.indexing_suite.call_policies = \
              call_policies.return_value_policy(call_policies.reference_existing_object)
          # Remove Boost.Graph representation from PlannerData
          self.ompl_ns.class_('PlannerData').member_functions('toBoostGraph').exclude()
          # Make PlannerData printable
          self.replace_member_function(self.ompl_ns.class_('PlannerData').member_function('printGraphviz'))
          self.replace_member_function(self.ompl_ns.class_('PlannerData').member_function('printGraphML'))
          # serialize passes archive by reference which causes problems
          if self.using_castxml:
              self.ompl_ns.class_('PlannerDataVertex').member_functions('serialize').exclude()
              self.ompl_ns.class_('PlannerDataEdge').member_functions('serialize').exclude()
  
          # add array indexing to the RealVectorState
          self.add_array_access(self.ompl_ns.class_('RealVectorStateSpace').class_('StateType'))
          # typedef's are not handled by Py++, so we need to explicitly rename uBLAS vector to EuclideanProjection
          cls = self.mb.namespace('ublas').class_(
              'vector<double, boost::numeric::ublas::unbounded_array<double, std::allocator<double> > >')
          cls.include()
          cls.rename('EuclideanProjection')
          cls.member_functions().exclude()
          cls.operators().exclude()
          self.add_array_access(cls,'double')
          # make objects printable that have a print function
          self.replace_member_functions(self.ompl_ns.member_functions('print'))
          # handle special case (abstract base class with pure virtual method)
          self.ompl_ns.class_('Path').add_wrapper_code(
              'virtual void print(std::ostream&) const {}')
          # make settings printable
          self.replace_member_functions(self.ompl_ns.member_functions('printSettings'))
          # make properties printable
          self.replace_member_functions(self.ompl_ns.member_functions('printProperties'))
          # make states printable
          self.replace_member_functions(self.ompl_ns.member_functions('printState'))
          # make list of available projections printable
          self.replace_member_functions(self.ompl_ns.member_functions('printProjections'))
          # make projections printable
          self.replace_member_functions(self.ompl_ns.member_functions('printProjection'))
          # make state space diagram printable
          self.replace_member_function(self.ompl_ns.class_('StateSpace').member_function('Diagram'))
          # make state space list printable
          self.replace_member_function(self.ompl_ns.class_('StateSpace').member_function('List'))
          # add wrappers for boost::function types
          self.add_boost_function('bool(const ompl::base::GoalLazySamples*, ompl::base::State*)',
              'GoalSamplingFn', 'Goal sampling function')
          self.add_boost_function('void(const ompl::base::State*)',
              'NewStateCallbackFn', 'New state callback function')
          self.add_boost_function('ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr&)',
              'PlannerAllocator', 'Planner allocator')
          self.add_boost_function('bool()',
              'PlannerTerminationConditionFn','Planner termination condition function')
          self.add_boost_function('bool(const ompl::base::State*)',
              'StateValidityCheckerFn', 'State validity checker function')
          self.add_boost_function('ompl::base::StateSamplerPtr(const ompl::base::StateSpace*)',
              'StateSamplerAllocator', 'State sampler allocator')
          self.add_boost_function('ompl::base::ValidStateSamplerPtr(ompl::base::SpaceInformation const*)',
              'ValidStateSamplerAllocator', 'Valid state allocator function')
          self.add_boost_function('double(const ompl::base::PlannerDataVertex&, const ompl::base::PlannerDataVertex&, const ompl::base::PlannerDataEdge&)',
              'EdgeWeightFn', 'Edge weight function')
          self.add_boost_function('ompl::base::Cost(const ompl::base::State*, const ompl::base::Goal*)',
              'CostToGoHeuristic', 'Cost-to-go heuristic for optimizing planners')
          self.add_boost_function('std::string()', 'PlannerProgressProperty',
              'Function that returns stringified value of a property while a planner is running')
  
          # rename SamplerSelectors
          self.ompl_ns.class_('SamplerSelector< ompl::base::StateSampler >').rename('StateSamplerSelector')
          self.ompl_ns.class_('SamplerSelector< ompl::base::ValidStateSampler >').rename('ValidStateSamplerSelector')
          try:
              cls = self.ompl_ns.class_('StateStorage').member_functions('load')
              self.ompl_ns.class_('StateStorage').member_function('load', arg_types=['::std::istream &']).exclude()
              self.ompl_ns.class_('StateStorage').member_function('store', arg_types=['::std::ostream &']).exclude()
          except:
              pass
  
  class ompl_control_generator_t(code_generator_t):
      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 filter_declarations(self):
          code_generator_t.filter_declarations(self)
          # rename STL vectors of certain types
          if self.using_castxml:
              self.std_ns.class_('vector< ompl::control::Control * >').rename('vectorControlPtr')
          else:
              self.std_ns.class_('vector< ompl::control::Control* >').rename('vectorControlPtr')
          # don't export variables that need a wrapper
          self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
          # force ControlSpace::allocControl to be exported.
          # (not sure why this is necessary)
          allocControlFn = self.ompl_ns.class_('ControlSpace').member_function('allocControl')
          allocControlFn.include()
          allocControlFn.call_policies = \
              call_policies.return_value_policy(call_policies.reference_existing_object)
          # don't export components which is of type Control**
          self.ompl_ns.class_('CompoundControl').variable('components').exclude()
          # don't export some internal data structure
          self.ompl_ns.class_('OrderCellsByImportance').exclude()
          # don't expose this utility function
          self.ompl_ns.member_functions('getValueAddressAtIndex').exclude()
          self.ompl_ns.class_('KPIECE1').member_functions('freeGridMotions').exclude()
          # add array indexing to the RealVectorState
          self.add_array_access(self.ompl_ns.class_('RealVectorControlSpace').class_('ControlType'))
          # make objects printable that have a print function
          self.replace_member_functions(self.ompl_ns.member_functions('print'))
          # make settings printable
          self.replace_member_functions(self.ompl_ns.member_functions('printSettings'))
          # make controls printable
          self.replace_member_functions(self.ompl_ns.member_functions('printControl'))
          # print paths as matrices
          self.replace_member_functions(self.ompl_ns.member_functions('printAsMatrix'))
          try:
              # export ODESolver-derived classes that use Boost.OdeInt
              for odesolver in ['ODEBasicSolver', 'ODEErrorSolver', 'ODEAdaptiveSolver']:
                  self.ompl_ns.class_(lambda cls: cls.name.startswith(odesolver)).rename(odesolver)
              # Somehow, Py++ changes the type of the ODE's first argument. Weird...
              self.add_boost_function('void(ompl::control::ODESolver::StateType, const ompl::control::Control*, ompl::control::ODESolver::StateType &)',
                  'ODE','Ordinary differential equation')
              # workaround for default argument for PostPropagationEvent
              self.replace_member_function(self.ompl_ns.class_('ODESolver').member_function(
                  'getStatePropagator'))
          except declarations.matcher.declaration_not_found_t:
              # not available for boost < 1.44, so ignore this
              pass
          # LLVM's clang++ compiler doesn't like exporting this method because
          # the argument type (Grid::Cell) is protected
          self.ompl_ns.member_functions('computeImportance').exclude()
  
          # export pure virtual member functions, otherwise code doesn't compile
          syclop = self.ompl_ns.class_('Syclop')
          syclop.add_wrapper_code("""
          virtual ompl::control::Syclop::Motion* addRoot(const ompl::base::State* s)
          {
              bp::override func_addRoot = this->get_override("addRoot");
              return func_addRoot(s);
          }
          virtual void selectAndExtend(ompl::control::Syclop::Region& region, std::vector<ompl::control::Syclop::Motion*>& newMotions)
          {
              bp::override func_selectAndExtend = this->get_override("selectAndExtend");
              func_selectAndExtend(region, newMotions);
          }""")
          # omit ompl::control::Syclop::Defaults nested subclass, otherwise
          # code doesn't compile (don't know why)
          syclop.class_('Defaults').exclude()
  
          # add wrappers for boost::function types
          self.add_boost_function('ompl::control::ControlSamplerPtr(const ompl::control::ControlSpace*)',
              'ControlSamplerAllocator', 'Control sampler allocator')
          self.add_boost_function('ompl::control::DirectedControlSamplerPtr(const ompl::control::SpaceInformation*)',
              'DirectedControlSamplerAllocator','Directed control sampler allocator')
          # same type as StatePropagatorFn, so no need to export this. Instead, we just define a type alias in the python module.
          #self.add_boost_function('void(const ompl::base::State*, const ompl::control::Control*, const double, ompl::base::State*)',
          #    'PostPropagationEvent','Post-propagation event')
          self.add_boost_function('void(const ompl::base::State*, const ompl::control::Control*, const double, ompl::base::State*)',
              'StatePropagatorFn','State propagator function')
          self.add_boost_function('double(int, int)','EdgeCostFactorFn',
              'Syclop edge cost factor function')
          self.add_boost_function('void(int, int, std::vector<int>&)','LeadComputeFn',
              'Syclop lead compute function')
          # code generation fails to compile, most likely because of a bug in
          # Py++'s generation of exposed_decl.pypp.txt.
          self.ompl_ns.member_functions('getPlannerAllocator').exclude()
          self.ompl_ns.member_functions('setPlannerAllocator').exclude()
          self.ompl_ns.namespace('control').class_('SimpleSetup').add_registration_code(
              'def("setPlannerAllocator", &ompl::control::SimpleSetup::setPlannerAllocator)')
          self.ompl_ns.namespace('control').class_('SimpleSetup').add_registration_code(
              'def("getPlannerAllocator", &ompl::control::SimpleSetup::getPlannerAllocator, bp::return_value_policy< bp::copy_const_reference >())')
  
          # Do this for all classes that exist with the same name in another namespace
          # (We also do it for all planners; see below)
          for cls in ['SimpleSetup', 'SpaceInformation']:
              self.ompl_ns.namespace('control').class_(cls).wrapper_alias = 'Control%s_wrapper' % cls
  
          # Py++ seems to get confused by some methods declared in one module
          # that are *not* overridden in a derived class in another module. The
          # Planner class is defined in ompl::base and two of its virtual methods,
          # setProblemDefinition and checkValidity, and not overridden by most
          # planners. The code below forces Py++ to do the right thing (or at
          # least make it work). It seems rather hacky and there may be a better
          # solution.
  
          # do this for all planners
          for planner in ['KPIECE1', 'PDST', 'RRT', 'EST', 'Syclop', 'SyclopEST', 'SyclopRRT','SST']:
              # many planners  exist with the same name in another namespace
              self.ompl_ns.namespace('control').class_(planner).wrapper_alias = 'Control%s_wrapper' % planner
              self.ompl_ns.class_(planner).add_registration_code("""
              def("solve", (::ompl::base::PlannerStatus(::ompl::base::Planner::*)( double ))(&::ompl::base::Planner::solve), (bp::arg("solveTime")) )""")
              self.ompl_ns.class_(planner).add_registration_code("""
              def("setProblemDefinition",&::ompl::base::Planner::setProblemDefinition,
                      &Control%s_wrapper::default_setProblemDefinition, (bp::arg("pdef")) )""" % planner)
              self.ompl_ns.class_(planner).add_registration_code("""
              def("checkValidity",&::ompl::base::Planner::checkValidity,
                      &Control%s_wrapper::default_checkValidity )""" % planner)
  
  class ompl_geometric_generator_t(code_generator_t):
      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();
          }
          """)
          replacement['printDebug'] = ('def("printDebug", &__printDebug)', """
          std::string __printDebug(%s* obj)
          {
              std::ostringstream s;
              obj->printDebug(s);
              return s.str();
          }
          """)
          code_generator_t.__init__(self, 'geometric', ['bindings/util', 'bindings/base'], replacement)
  
      def filter_declarations(self):
          code_generator_t.filter_declarations(self)
          # don't export variables that need a wrapper
          self.ompl_ns.variables(lambda decl: decl.is_wrapper_needed()).exclude()
          # make objects printable that have a print function
          self.replace_member_functions(self.ompl_ns.member_functions('print'))
          # print paths as matrices
          self.replace_member_functions(self.ompl_ns.member_functions('printAsMatrix'))
          # print debug info
          self.replace_member_functions(self.ompl_ns.member_functions('printDebug'))
          self.ompl_ns.member_functions('freeGridMotions').exclude()
          self.ompl_ns.class_('PRM').member_functions('maybeConstructSolution').exclude()
          self.ompl_ns.class_('PRM').member_functions('growRoadmap',
                  function=declarations.access_type_matcher_t('protected')).exclude()
          self.ompl_ns.class_('PRM').member_functions('expandRoadmap',
                  function=declarations.access_type_matcher_t('protected')).exclude()
          # don't export some internal data structure
          self.ompl_ns.classes('OrderCellsByImportance').exclude()
          # LLVM's clang++ compiler doesn't like exporting this method because
          # the argument type (Grid::Cell) is protected
          self.ompl_ns.member_functions('computeImportance').exclude()
          # add wrappers for boost::function types
          self.add_boost_function('unsigned int()',
              'NumNeighborsFn', 'Number of neighbors function')
          # self.add_boost_function('std::vector<ompl::geometric::PRM::Vertex>&(const ompl::geometric::PRM::Vertex)',
          #     'ConnectionStrategy', 'Connection strategy')
          self.add_boost_function('bool(const ompl::geometric::PRM::Vertex&, const ompl::geometric::PRM::Vertex&)',
              'ConnectionFilter', 'Connection filter')
          # code generation fails to compile, most likely because of a bug in
          # Py++'s generation of exposed_decl.pypp.txt.
          self.ompl_ns.member_functions('getPlannerAllocator').exclude()
          self.ompl_ns.member_functions('setPlannerAllocator').exclude()
          self.ompl_ns.namespace('geometric').class_('SimpleSetup').add_registration_code(
              'def("setPlannerAllocator", &ompl::geometric::SimpleSetup::setPlannerAllocator)')
          self.ompl_ns.namespace('geometric').class_('SimpleSetup').add_registration_code(
              'def("getPlannerAllocator", &ompl::geometric::SimpleSetup::getPlannerAllocator, bp::return_value_policy< bp::copy_const_reference >())')
          # rename to something simpler
          self.std_ns.class_('vector< boost::shared_ptr<ompl::geometric::BITstar::Vertex> >').rename('vectorBITstarVertexPtr')
          if self.using_castxml:
              self.std_ns.class_('vector<const ompl::base::State *>').exclude()
          else:
              self.std_ns.class_('vector<ompl::base::State const*>').exclude()
  
          # Py++ seems to get confused by some methods declared in one module
          # that are *not* overridden in a derived class in another module. The
          # Planner class is defined in ompl::base and two of its virtual methods,
          # setProblemDefinition and checkValidity, and not overridden by most
          # planners. The code below forces Py++ to do the right thing (or at
          # least make it work). It seems rather hacky and there may be a better
          # solution.
  
          # do this for all planners
          for planner in ['EST', 'KPIECE1', 'BKPIECE1', 'LBKPIECE1', 'PRM', 'LazyPRM', 'LazyPRMstar', 'PDST', 'LazyRRT', 'RRT', 'RRTConnect', 'TRRT', 'RRTstar', 'LBTRRT', 'SBL', 'SPARS', 'SPARStwo', 'STRIDE', 'FMT', 'BITstar','SST']:
              try:
                  cls = self.ompl_ns.class_(planner)
              except:
                  continue
              self.ompl_ns.class_(planner).add_registration_code("""
              def("solve", (::ompl::base::PlannerStatus(::ompl::base::Planner::*)( double ))(&::ompl::base::Planner::solve), (bp::arg("solveTime")) )""")
              if planner!='PRM':
                  # PRM overrides setProblemDefinition, so we don't need to add this code
                  self.ompl_ns.class_(planner).add_registration_code("""
                  def("setProblemDefinition",&::ompl::base::Planner::setProblemDefinition,
                      &%s_wrapper::default_setProblemDefinition, (bp::arg("pdef")) )""" % planner)
              self.ompl_ns.class_(planner).add_registration_code("""
              def("checkValidity",&::ompl::base::Planner::checkValidity,
                  &%s_wrapper::default_checkValidity )""" % planner)
  
          # The OMPL implementation of PRM uses two threads: one for constructing
          # the roadmap and another for checking for a solution. This causes
          # problems when both threads try to access the python interpreter
          # simultaneously. This is a known limitation of Boost.Python. We
          # therefore use a single-threaded version of PRM in python.
          PRM_cls = self.ompl_ns.class_('PRM')
          PRM_cls.member_function('solve').exclude()
          PRM_cls.add_wrapper_code("""
              virtual ::ompl::base::PlannerStatus solve( ::ompl::base::PlannerTerminationCondition const & ptc ) {
                  if( bp::override func_solve = this->get_override( "solve" ) )
                      return func_solve( boost::ref(ptc) );
                  else{
                      return default_solve( boost::ref(ptc) );
                  }
              }
  
              ::ompl::base::PlannerStatus default_solve( ::ompl::base::PlannerTerminationCondition const & ptc );
              """)
          PRM_cls.add_declaration_code(open('PRM.SingleThreadSolve.cpp','r').read())
          # This needs to be the last registration code added to the PRM_cls to the ugly hack below.
          PRM_cls.add_registration_code("""def("solve",
              (::ompl::base::PlannerStatus(::ompl::geometric::PRM::*)( ::ompl::base::PlannerTerminationCondition const &))(&PRM_wrapper::solve),
              (::ompl::base::PlannerStatus(PRM_wrapper::*)( ::ompl::base::PlannerTerminationCondition const & ))(&PRM_wrapper::default_solve), bp::arg("ptc") );
  
              // HACK ALERT: closing brace destroys bp::scope, so that PRMstar is not a nested class of PRM
              }
              {
                  // wrapper for PRMstar, derived from single-threaded PRM_wrapper
                  bp::class_<PRMstar_wrapper, bp::bases< PRM_wrapper >, boost::noncopyable >("PRMstar", bp::init< ompl::base::SpaceInformationPtr const & >( bp::arg("si") ) )
              """)
          # Add wrapper code for PRM*
          PRM_cls.add_declaration_code("""
          class PRMstar_wrapper : public PRM_wrapper
          {
          public:
              PRMstar_wrapper(const ompl::base::SpaceInformationPtr &si) : PRM_wrapper(si, true)
              {
                  setName("PRMstar");
                  params_.remove("max_nearest_neighbors");
              }
          };
          """)
          # LazyPRM's Vertex type is void* so exclude addMilestone which has return type void*
          self.ompl_ns.class_('LazyPRM').member_function('addMilestone').exclude()
          # avoid difficulties in exporting the return type std::vector<base::PlannerDataPtr>
                  # do this for all multithreaded planners
          for planner in ['SPARS', 'SPARStwo']:
              cls = self.ompl_ns.class_(planner)
              cls.constructor(arg_types=["::ompl::base::SpaceInformationPtr const &"]).exclude()
              cls.add_registration_code('def(bp::init<ompl::base::SpaceInformationPtr const &>(bp::arg("si")))')
              cls.add_wrapper_code("""
              {0}_wrapper(::ompl::base::SpaceInformationPtr const &si) : ompl::geometric::{0}(si),
                  bp::wrapper<ompl::geometric::{0}>()
              {{
                  OMPL_WARN("%s: this planner uses multiple threads and might crash if your StateValidityChecker, OptimizationObjective, etc., are allocated within Python.", getName().c_str());
              }}
              """.format(planner))
  
          # used in SPARS
          if self.using_castxml:
              self.std_ns.class_('deque<ompl::base::State *>').rename('dequeState')
          else:
              self.std_ns.class_('deque<ompl::base::State*>').rename('dequeState')
  
          # needed to able to set connection strategy for PRM
          # the PRM::Vertex type is typedef-ed to boost::graph_traits<Graph>::vertex_descriptor. This can
          # be equal to an unsigned long or unsigned int, depending on architecture (or version of boost?)
          try:
              self.ompl_ns.class_('NearestNeighbors<unsigned long>').include()
              self.ompl_ns.class_('NearestNeighbors<unsigned long>').rename('NearestNeighbors')
              self.ompl_ns.class_('NearestNeighborsLinear<unsigned long>').rename('NearestNeighborsLinear')
              self.ompl_ns.class_('KStrategy<unsigned long>').rename('KStrategy')
              self.ompl_ns.class_('KStarStrategy<unsigned long>').rename('KStarStrategy')
              # used in SPARStwo
              if self.using_castxml:
                  self.std_ns.class_('map<unsigned long, ompl::base::State *>').rename('mapVertexToState')
              else:
                  self.std_ns.class_('map<unsigned long, ompl::base::State*>').rename('mapVertexToState')
          except:
              self.ompl_ns.class_('NearestNeighbors<unsigned int>').include()
              self.ompl_ns.class_('NearestNeighbors<unsigned int>').rename('NearestNeighbors')
              self.ompl_ns.class_('NearestNeighborsLinear<unsigned int>').rename('NearestNeighborsLinear')
              self.ompl_ns.class_('KStrategy<unsigned int>').rename('KStrategy')
              self.ompl_ns.class_('KStarStrategy<unsigned int>').rename('KStarStrategy')
              # used in SPARStwo
              if self.using_castxml:
                  self.std_ns.class_('map<unsigned int, ompl::base::State *>').rename('mapVertexToState')
              else:
                  self.std_ns.class_('map<unsigned int, ompl::base::State*>').rename('mapVertexToState')
  
          try:
              # Exclude some functions from BIT* that cause some Py++ compilation problems:
              self.ompl_ns.class_('BITstar').member_functions('getEdgeQueue').exclude() #I don't know why this doesn't work.
              self.ompl_ns.class_('BITstar').member_functions('getVertexQueue').exclude() #I don't know why this doesn't work.
          except:
              pass
  
  class ompl_tools_generator_t(code_generator_t):
      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 filter_declarations(self):
          code_generator_t.filter_declarations(self)
          # rename STL vectors/maps of certain types
          self.std_ns.class_('vector< ompl::tools::Benchmark::PlannerExperiment >').rename('vectorPlannerExperiment')
          self.std_ns.class_('vector< std::vector< std::map<std::string, std::string> > >').rename('vectorRunProgressData')
          # make objects printable that have a print function
          self.replace_member_functions(self.ompl_ns.member_functions('print'))
  
          benchmark_cls = self.ompl_ns.class_('Benchmark')
          self.replace_member_function(benchmark_cls.member_function('benchmark'))
          # next five statements take care of weird error in default value for name argument in constructor
          benchmark_cls.constructors().exclude()
          benchmark_cls.add_registration_code(
              'def(bp::init< ompl::geometric::SimpleSetup &, bp::optional< std::string const & > >(( bp::arg("setup"), bp::arg("name")=std::basic_string<char, std::char_traits<char>, std::allocator<char> >() )) )')
          benchmark_cls.add_wrapper_code(
              """Benchmark_wrapper(::ompl::geometric::SimpleSetup & setup, const ::std::string & name=std::string() )
          : ompl::tools::Benchmark( boost::ref(setup), name )
            , bp::wrapper< ompl::tools::Benchmark >(){}""")
          benchmark_cls.add_registration_code(
              'def(bp::init< ompl::control::SimpleSetup &, bp::optional< std::string const & > >(( bp::arg("setup"), bp::arg("name")=std::basic_string<char, std::char_traits<char>, std::allocator<char> >() )) )')
          benchmark_cls.add_wrapper_code(
              """Benchmark_wrapper(::ompl::control::SimpleSetup & setup, const ::std::string & name=std::string() )
            : ompl::tools::Benchmark( boost::ref(setup), name )
              , bp::wrapper< ompl::tools::Benchmark >(){}""")
          # don't want to export iostream
          benchmark_cls.member_function('saveResultsToStream').exclude()
          # code generation fails because of same bug in gxxcml that requires us
          # to patch the generated code with workaround_for_gccxml_bug.cmake
          self.ompl_ns.member_functions('addPlannerAllocator').exclude()
          benchmark_cls.member_functions(lambda method: method.name.startswith('set') and method.name.endswith('Event')).exclude()
          benchmark_cls.add_registration_code(
              'def("addPlannerAllocator", &ompl::tools::Benchmark::addPlannerAllocator)')
          self.ompl_ns.class_('OptimizePlan').add_registration_code(
              'def("addPlannerAllocator", &ompl::tools::OptimizePlan::addPlannerAllocator)')
          benchmark_cls.add_registration_code(
              'def("setPlannerSwitchEvent", &ompl::tools::Benchmark::setPlannerSwitchEvent)')
          benchmark_cls.add_registration_code(
              'def("setPreRunEvent", &ompl::tools::Benchmark::setPreRunEvent)')
          benchmark_cls.add_registration_code(
              'def("setPostRunEvent", &ompl::tools::Benchmark::setPostRunEvent)')
          self.add_boost_function('void(const ompl::base::PlannerPtr&)',
              'PreSetupEvent', 'Pre-setup event')
          self.add_boost_function('void(const ompl::base::PlannerPtr&, ompl::tools::Benchmark::RunProperties&)',
              'PostSetupEvent', 'Post-setup event')
          benchmark_cls.class_('Request').no_init = False
  
  class ompl_util_generator_t(code_generator_t):
      def __init__(self):
          replacement = default_replacement
          code_generator_t.__init__(self, 'util', None, replacement, 1)
      def filter_declarations(self):
          code_generator_t.filter_declarations(self)
          # rename STL vectors of certain types
          self.std_ns.class_('vector< unsigned long >').include()
          self.std_ns.class_('vector< unsigned long >').rename('vectorSizeT')
          # not needed; causes problems when compiling in C++11 mode
          #self.std_ns.class_('vector< bool >').include()
          #self.std_ns.class_('vector< bool >').rename('vectorBool')
          self.std_ns.class_('vector< int >').include()
          self.std_ns.class_('vector< int >').rename('vectorInt')
          self.std_ns.class_('vector< double >').include()
          self.std_ns.class_('vector< double >').rename('vectorDouble')
          self.std_ns.class_('vector< unsigned int >').include()
          self.std_ns.class_('vector< unsigned int >').rename('vectorUint')
          self.std_ns.class_('vector< std::string >').include()
          self.std_ns.class_('vector< std::string >').rename('vectorString')
          self.std_ns.class_('vector< std::vector<int> >').include()
          self.std_ns.class_('vector< std::vector<int> >').rename('vectorVectorInt')
          self.std_ns.class_('vector< std::vector<unsigned int> >').include()
          self.std_ns.class_('vector< std::vector<unsigned int> >').rename('vectorVectorUint')
          self.std_ns.class_('vector< std::vector<double> >').include()
          self.std_ns.class_('vector< std::vector<double> >').rename('vectorVectorDouble')
          self.std_ns.class_('vector< std::map<std::string, std::string > >').include()
          self.std_ns.class_('vector< std::map<std::string, std::string > >').rename('vectorMapStringToString')
          self.std_ns.class_('map<std::string, std::string >').include()
          self.std_ns.class_('map<std::string, std::string >').rename('mapStringToString')
          self.std_ns.class_('vector< ompl::PPM::Color >').rename('vectorPPMColor')
          try:
              # Exclude the ProlateHyperspheroid Class which needs Eigen, and the associated member functions in the RNG
              self.ompl_ns.class_('ProlateHyperspheroid').exclude()
              self.ompl_ns.class_('RNG').member_functions('uniformProlateHyperspheroidSurface').exclude()
              self.ompl_ns.class_('RNG').member_functions('uniformProlateHyperspheroid').exclude()
          except:
              pass
  
  class ompl_morse_generator_t(code_generator_t):
      def __init__(self):
          replacement = default_replacement
          code_generator_t.__init__(self, 'morse',
              ['bindings/util', 'bindings/base', 'bindings/geometric', 'bindings/control'],
              replacement)
      def filter_declarations(self):
          stype = 'Morse'
          # create a python type for each of the corresponding state type
          state = self.ompl_ns.class_('ScopedState< ompl::base::%sStateSpace >' % stype)
          state.rename(stype+'State')
          state.operator('=', arg_types=['::ompl::base::State const &']).exclude()
          # add a constructor that allows a MorseState to be constructed from a State
          state.add_registration_code(
              'def(bp::init<ompl::base::ScopedState<ompl::base::StateSpace> const &>(( bp::arg("other") )))')
          # add a constructor that allows, e.g., a State to be constructed from a MorseState
          bstate = self.ompl_ns.class_('ScopedState< ompl::base::StateSpace >')
          bstate.add_registration_code(
              'def(bp::init<ompl::base::ScopedState<ompl::base::%sStateSpace> const &>(( bp::arg("other") )))' % stype)
          # add array access to double components of state
          self.add_array_access(state,'double')
  
  
  if __name__ == '__main__':
      setrecursionlimit(50000)
      if len(argv)==1:
          print("Usage: generatebindings.py <modulename>")
      else:
          for module in argv[1:]:
              try:
                  globals()['ompl_'+module+'_generator_t']()
              except KeyError:
                  print("Error: can't generate code for module %s" % module)
  