OMPL按照教程安装缺少库问题的解决方法

#!/usr/bin/env python ###################################################################### # 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 from os.path import join, dirname from sys import argv, setrecursionlimit from pygccxml import declarations from pygccxml.declarations.runtime_errors import declaration_not_found_t from pyplusplus.module_builder import call_policies from pyplusplus import function_transformers as FT 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())" 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 Eigen::Ref<Eigen::VectorXd> &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(); } """) # "Atlas::printPLY(std::cout)" will be replaced with # something more pythonesque: "print(PlannerData.printGraphviz())" replacement['::ompl::base::AtlasStateSpace::printPLY'] = \ ('def("printPLY", &__printPLY)', """ std::string __printPLY(%s* obj) { std::ostringstream s; obj->printPLY(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_( f'map< {self.string_decl}, std::shared_ptr< ompl::base::ProjectionEvaluator > >').rename( 'mapStringToProjectionEvaluator') self.std_ns.class_('vector< ompl::base::State * >').rename('vectorState') try: self.std_ns.class_('vector< ompl::base::State const* >').rename('vectorConstState') except declaration_not_found_t: pass self.std_ns.class_('vector< std::shared_ptr<ompl::base::StateSpace> >').rename( 'vectorStateSpacePtr') #self.std_ns.class_('vector< <ompl::base::PlannerSolution> >').rename( # 'vectorPlannerSolution') self.std_ns.class_(f'map< {self.string_decl}, std::shared_ptr<ompl::base::GenericParam> >').rename( 'mapStringToGenericParam') self.std_ns.class_(f'map< {self.string_decl}, ompl::base::StateSpace::SubstateLocation >').rename( 'mapStringToSubstateLocation') self.std_ns.class_('vecto