text: #!/usr/bin/env python
  
  ###############################################################################
  # Copyright 2018 The Apollo Authors. All Rights Reserved.
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  # http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  ###############################################################################
  
  import ctypes
  from ctypes import *
  import math
  
  lib = cdll.LoadLibrary(
      '/apollo/bazel-bin/modules/planning/open_space/tools/distance_approach_problem_wrapper_lib.so')
  
  lib.CreateHybridAPtr.argtypes = []
  lib.CreateHybridAPtr.restype = c_void_p
  lib.DistanceCreateResultPtr.argtypes = []
  lib.DistanceCreateResultPtr.restype = c_void_p
  lib.DistanceCreateObstaclesPtr.argtypes = []
  lib.DistanceCreateObstaclesPtr.restype = c_void_p
  lib.AddObstacle.argtypes = [c_void_p, POINTER(c_double)]
  lib.DistancePlan.restype = c_bool
  lib.DistancePlan.argtypes = [c_void_p, c_void_p, c_void_p, c_double, c_double, c_double, c_double, 
                       c_double, c_double, POINTER(c_double)]
  lib.DistanceGetResult.argtypes = [c_void_p, c_void_p, POINTER(c_double), POINTER(c_double), POINTER(c_double),
                      POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double), 
                      POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double), 
                      POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double),
                      POINTER(c_ushort), POINTER(c_double), POINTER(c_double), POINTER(c_double)]
  
  class DistancePlanner(object):
      def __init__(self):
          self.warm_start_planner = lib.CreateHybridAPtr()
          self.obstacles = lib.DistanceCreateObstaclesPtr()
          self.result = lib.DistanceCreateResultPtr()
  
      def AddObstacle(self, ROI_distance_approach_parking_boundary):
          lib.AddObstacle(self.obstacles, POINTER(
              c_double)(ROI_distance_approach_parking_boundary))
  
      def DistancePlan(self, sx, sy, sphi, ex, ey, ephi, XYbounds):
          return lib.DistancePlan(self.warm_start_planner, self.obstacles, self.result, c_double(sx),
                                  c_double(sy), c_double(sphi), c_double(ex), c_double(ey), c_double(ephi), POINTER(c_double)(XYbounds))
  
      def DistanceGetResult(self, x, y, phi, v, a, steer, opt_x, opt_y, opt_phi, opt_v, opt_a, opt_steer, opt_time, \
          opt_dual_l, opt_dual_n, output_size, hybrid_time, dual_time, ipopt_time):
          lib.DistanceGetResult(self.result, self.obstacles, POINTER(c_double)(x), POINTER(c_double)(y),
                                POINTER(c_double)(phi), POINTER(c_double)(v), POINTER(c_double)(a), POINTER(
              c_double)(steer), POINTER(c_double)(opt_x), POINTER(c_double)(opt_y),
              POINTER(c_double)(opt_phi), POINTER(c_double)(opt_v), POINTER(c_double)(opt_a),\
                  POINTER(c_double)(opt_steer), POINTER(c_double)(opt_time), POINTER(c_double)(opt_dual_l),
                  POINTER(c_double)(opt_dual_n), POINTER(c_ushort)(output_size),
                  POINTER(c_double)(hybrid_time), POINTER(c_double)(dual_time), POINTER(c_double)(ipopt_time))
  