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/* Author: Mark Moll */

#ifndef PY_BINDINGS_OMPL_PY_BASE_
#define PY_BINDINGS_OMPL_PY_BASE_

#include "ompl/base/ScopedState.h"
#include "ompl/base/spaces/SE2StateSpace.h"
#include "ompl/base/spaces/SE3StateSpace.h"
#include "ompl/base/spaces/DiscreteStateSpace.h"
#include "ompl/base/spaces/TimeStateSpace.h"
#include "ompl/base/spaces/DubinsStateSpace.h"
#include "ompl/base/spaces/ReedsSheppStateSpace.h"
#include "ompl/base/Goal.h"
#include "ompl/base/PlannerData.h"
#include "py_std_function.hpp"

#define DeclareStateType(T) \
    inline int __dummy##T() \
    { \
        return sizeof(ompl::base::ScopedState<T##StateSpace>) + \
        sizeof(ompl::base::T##StateSpace::StateType); \
    }

#define DeclareSpecificParamType(n, T) \
    inline int __dummySP##n() \
    { \
        return sizeof(ompl::base::SpecificParam<T>("dummy", \
            ompl::base::SpecificParam<T>::SetterFn())); \
    }

namespace ompl
{
    namespace base
    {
        DeclareStateType();
        DeclareStateType(Compound);
        DeclareStateType(RealVector);
        DeclareStateType(SO2);
        DeclareStateType(SO3);
        DeclareStateType(SE2);
        DeclareStateType(SE3);
        DeclareStateType(Discrete);
        DeclareStateType(Time);
        DeclareStateType(Dubins);
        DeclareStateType(ReedsShepp);

        DeclareSpecificParamType(0, bool);
        DeclareSpecificParamType(1, char);
        DeclareSpecificParamType(2, int);
        DeclareSpecificParamType(3, unsigned int);
        DeclareSpecificParamType(4, float);
        DeclareSpecificParamType(5, double);
        DeclareSpecificParamType(6, std::string);

        inline int dummySTLContainerSize()
        {
            return sizeof(std::vector<ompl::base::PlannerSolution>)
                + sizeof(std::map<unsigned int, ompl::base::PlannerDataEdge const *>)
                + sizeof(std::pair<ompl::base::State*, double>);
        }
    }
}

#endif
