From: Mark M. <mm...@ri...> - 2012-02-26 04:12:46
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It should be possible.The NearestNeighbors classes are templated, though. You can only export fully instantiated types to python. That is, you can only export NearestNeighborsGNAT<int>, NearestNeighborts<State*>, etc. You could also look at the flann library, which already has python bindings. I could be wrong, but I believe that flann assumes a Euclidean distance metric, whereas GNAT doesn’t. It this is something you need (for rotations and rigid body movements, for instance), then GNAT could work. Can you describe how you’d plan to use this? If this is something that might conceivably be useful for others, we could add the python bindings to OMPL. On Feb 25, 2012, at 1:27 PM, Gustavo Goretkin wrote: > I'd like to build Python bindings to the different implementations of > NearestNeighbors (specifically GNAT). I'd like to be able to perform > queries on and additions to the NearestNeighbors data structure and > also iterate through all the Motion objects in the data structure. Are > there straightforward changes I could make to generate_bindings.py? > > I was peering in ompl/py-bindings/bindings/geometric and I see that > there are files like NearestNeighbors.pypp.cpp . Does this mean that > some of these bindings I want are already being generated? > > Thank you! > Gustavo -- Mark Moll |