castar 0.0.1

data/ext/fsa.h

@@ -0,0 +1,250 @@
+/* 
+
+A* Algorithm Implementation using STL is
+Copyright (C)2001-2005 Justin Heyes-Jones
+
+Permission is given by the author to freely redistribute and 
+include this code in any program as long as this credit is 
+given where due.
+ 
+  COVERED CODE IS PROVIDED UNDER THIS LICENSE ON AN "AS IS" BASIS, 
+  WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, 
+  INCLUDING, WITHOUT LIMITATION, WARRANTIES THAT THE COVERED CODE 
+  IS FREE OF DEFECTS, MERCHANTABLE, FIT FOR A PARTICULAR PURPOSE
+  OR NON-INFRINGING. THE ENTIRE RISK AS TO THE QUALITY AND 
+  PERFORMANCE OF THE COVERED CODE IS WITH YOU. SHOULD ANY COVERED 
+  CODE PROVE DEFECTIVE IN ANY RESPECT, YOU (NOT THE INITIAL 
+  DEVELOPER OR ANY OTHER CONTRIBUTOR) ASSUME THE COST OF ANY 
+  NECESSARY SERVICING, REPAIR OR CORRECTION. THIS DISCLAIMER OF 
+  WARRANTY CONSTITUTES AN ESSENTIAL PART OF THIS LICENSE. NO USE 
+  OF ANY COVERED CODE IS AUTHORIZED HEREUNDER EXCEPT UNDER
+  THIS DISCLAIMER.
+ 
+  Use at your own risk!
+
+
+
+  FixedSizeAllocator class
+  Copyright 2001 Justin Heyes-Jones
+
+  This class is a constant time O(1) memory manager for objects of 
+  a specified type. The type is specified using a template class.
+
+  Memory is allocated from a fixed size buffer which you can specify in the
+  class constructor or use the default.
+
+  Using GetFirst and GetNext it is possible to iterate through the elements
+  one by one, and this would be the most common use for the class. 
+
+  I would suggest using this class when you want O(1) add and delete
+  and you don't do much searching, which would be O(n). Structures such as binary 
+  trees can be used instead to get O(logn) access time.
+
+*/
+
+#ifndef FSA_H
+#define FSA_H
+
+#include <string.h>
+#include <stdio.h>
+
+template <class USER_TYPE> class FixedSizeAllocator
+{
+
+public: 
+	// Constants
+	enum
+	{
+		FSA_DEFAULT_SIZE = 100
+	};
+
+	// This class enables us to transparently manage the extra data 
+	// needed to enable the user class to form part of the double-linked
+	// list class
+	struct FSA_ELEMENT
+	{
+		USER_TYPE UserType;
+		
+		FSA_ELEMENT *pPrev;
+		FSA_ELEMENT *pNext;
+	};
+
+public: // methods
+	FixedSizeAllocator( unsigned int MaxElements = FSA_DEFAULT_SIZE ) :
+	m_MaxElements( MaxElements ),
+	m_pFirstUsed( NULL )
+	{
+		// Allocate enough memory for the maximum number of elements
+
+		m_pMemory = (FSA_ELEMENT *) (new char[ m_MaxElements * sizeof(FSA_ELEMENT) ]); 
+
+		// Set the free list first pointer
+		m_pFirstFree = m_pMemory;
+
+		// Clear the memory
+		memset( m_pMemory, 0, sizeof( FSA_ELEMENT ) * m_MaxElements );
+
+		// Point at first element
+		FSA_ELEMENT *pElement = m_pFirstFree;
+
+		// Set the double linked free list
+		for( unsigned int i=0; i<m_MaxElements; i++ )
+		{
+			pElement->pPrev = pElement-1;
+			pElement->pNext = pElement+1;
+
+			pElement++;
+		}
+
+		// first element should have a null prev
+		m_pFirstFree->pPrev = NULL;
+		// last element should have a null next
+		(pElement-1)->pNext = NULL;
+
+	}
+
+
+	~FixedSizeAllocator()
+	{
+		// Free up the memory
+		delete [] (char *) m_pMemory;
+	}
+
+	// Allocate a new USER_TYPE and return a pointer to it 
+	USER_TYPE *alloc()
+	{
+
+		FSA_ELEMENT *pNewNode = NULL;
+
+		if( !m_pFirstFree )
+		{
+			return NULL;
+		}
+		else
+		{
+			pNewNode = m_pFirstFree;
+			m_pFirstFree = pNewNode->pNext;
+
+			// if the new node points to another free node then
+			// change that nodes prev free pointer...
+			if( pNewNode->pNext )
+			{
+				pNewNode->pNext->pPrev = NULL;
+			}
+
+			// node is now on the used list
+
+			pNewNode->pPrev = NULL; // the allocated node is always first in the list
+
+			if( m_pFirstUsed == NULL )
+			{
+				pNewNode->pNext = NULL; // no other nodes
+			}
+			else
+			{
+				m_pFirstUsed->pPrev = pNewNode; // insert this at the head of the used list
+				pNewNode->pNext = m_pFirstUsed;
+			}
+
+			m_pFirstUsed = pNewNode;
+		}	
+		
+		return reinterpret_cast<USER_TYPE*>(pNewNode);
+	}
+
+	// Free the given user type
+	// For efficiency I don't check whether the user_data is a valid
+	// pointer that was allocated. I may add some debug only checking
+	// (To add the debug check you'd need to make sure the pointer is in 
+	// the m_pMemory area and is pointing at the start of a node)
+	void free( USER_TYPE *user_data )
+	{
+		FSA_ELEMENT *pNode = reinterpret_cast<FSA_ELEMENT*>(user_data);
+
+		// manage used list, remove this node from it
+		if( pNode->pPrev )
+		{
+			pNode->pPrev->pNext = pNode->pNext;
+		}
+		else
+		{
+			// this handles the case that we delete the first node in the used list
+			m_pFirstUsed = pNode->pNext;
+		}
+
+		if( pNode->pNext )
+		{
+			pNode->pNext->pPrev = pNode->pPrev;
+		}
+
+		// add to free list
+		if( m_pFirstFree == NULL ) 
+		{
+			// free list was empty
+			m_pFirstFree = pNode;
+			pNode->pPrev = NULL;
+			pNode->pNext = NULL;
+		}
+		else
+		{
+			// Add this node at the start of the free list
+			m_pFirstFree->pPrev = pNode;
+			pNode->pNext = m_pFirstFree;
+			m_pFirstFree = pNode;
+		}
+
+	}
+
+	// For debugging this displays both lists (using the prev/next list pointers)
+	void Debug()
+	{
+		printf( "free list " );
+
+		FSA_ELEMENT *p = m_pFirstFree;
+		while( p )
+		{
+			printf( "%x!%x ", p->pPrev, p->pNext );
+			p = p->pNext;
+		}
+		printf( "\n" );
+
+		printf( "used list " );
+
+		p = m_pFirstUsed;
+		while( p )
+		{
+			printf( "%x!%x ", p->pPrev, p->pNext );
+			p = p->pNext;
+		}
+		printf( "\n" );
+	}
+
+	// Iterators
+
+	USER_TYPE *GetFirst()
+	{
+		return reinterpret_cast<USER_TYPE *>(m_pFirstUsed);
+	}
+
+	USER_TYPE *GetNext( USER_TYPE *node )
+	{
+		return reinterpret_cast<USER_TYPE *>
+			(
+				(reinterpret_cast<FSA_ELEMENT *>(node))->pNext
+			);
+	}
+
+public: // data
+
+private: // methods
+
+private: // data
+
+	FSA_ELEMENT *m_pFirstFree;
+	FSA_ELEMENT *m_pFirstUsed;
+	unsigned int m_MaxElements;
+	FSA_ELEMENT *m_pMemory;
+
+};
+
+#endif // defined FSA_H

data/ext/heyes_wrap.cxx

@@ -0,0 +1,3641 @@
+/* ----------------------------------------------------------------------------
+ * This file was automatically generated by SWIG (http://www.swig.org).
+ * Version 1.3.31
+ * 
+ * This file is not intended to be easily readable and contains a number of 
+ * coding conventions designed to improve portability and efficiency. Do not make
+ * changes to this file unless you know what you are doing--modify the SWIG 
+ * interface file instead. 
+ * ----------------------------------------------------------------------------- */
+
+#define SWIGRUBY
+
+#ifdef __cplusplus
+template<class T> class SwigValueWrapper {
+    T *tt;
+public:
+    SwigValueWrapper() : tt(0) { }
+    SwigValueWrapper(const SwigValueWrapper<T>& rhs) : tt(new T(*rhs.tt)) { }
+    SwigValueWrapper(const T& t) : tt(new T(t)) { }
+    ~SwigValueWrapper() { delete tt; } 
+    SwigValueWrapper& operator=(const T& t) { delete tt; tt = new T(t); return *this; }
+    operator T&() const { return *tt; }
+    T *operator&() { return tt; }
+private:
+    SwigValueWrapper& operator=(const SwigValueWrapper<T>& rhs);
+};
+#endif
+
+/* -----------------------------------------------------------------------------
+ *  This section contains generic SWIG labels for method/variable
+ *  declarations/attributes, and other compiler dependent labels.
+ * ----------------------------------------------------------------------------- */
+
+/* template workaround for compilers that cannot correctly implement the C++ standard */
+#ifndef SWIGTEMPLATEDISAMBIGUATOR
+# if defined(__SUNPRO_CC)
+#   if (__SUNPRO_CC <= 0x560)
+#     define SWIGTEMPLATEDISAMBIGUATOR template
+#   else
+#     define SWIGTEMPLATEDISAMBIGUATOR 
+#   endif
+# else
+#   define SWIGTEMPLATEDISAMBIGUATOR 
+# endif
+#endif
+
+/* inline attribute */
+#ifndef SWIGINLINE
+# if defined(__cplusplus) || (defined(__GNUC__) && !defined(__STRICT_ANSI__))
+#   define SWIGINLINE inline
+# else
+#   define SWIGINLINE
+# endif
+#endif
+
+/* attribute recognised by some compilers to avoid 'unused' warnings */
+#ifndef SWIGUNUSED
+# if defined(__GNUC__)
+#   if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
+#     define SWIGUNUSED __attribute__ ((__unused__)) 
+#   else
+#     define SWIGUNUSED
+#   endif
+# elif defined(__ICC)
+#   define SWIGUNUSED __attribute__ ((__unused__)) 
+# else
+#   define SWIGUNUSED 
+# endif
+#endif
+
+#ifndef SWIGUNUSEDPARM
+# ifdef __cplusplus
+#   define SWIGUNUSEDPARM(p)
+# else
+#   define SWIGUNUSEDPARM(p) p SWIGUNUSED 
+# endif
+#endif
+
+/* internal SWIG method */
+#ifndef SWIGINTERN
+# define SWIGINTERN static SWIGUNUSED
+#endif
+
+/* internal inline SWIG method */
+#ifndef SWIGINTERNINLINE
+# define SWIGINTERNINLINE SWIGINTERN SWIGINLINE
+#endif
+
+/* exporting methods */
+#if (__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)
+#  ifndef GCC_HASCLASSVISIBILITY
+#    define GCC_HASCLASSVISIBILITY
+#  endif
+#endif
+
+#ifndef SWIGEXPORT
+# if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+#   if defined(STATIC_LINKED)
+#     define SWIGEXPORT
+#   else
+#     define SWIGEXPORT __declspec(dllexport)
+#   endif
+# else
+#   if defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
+#     define SWIGEXPORT __attribute__ ((visibility("default")))
+#   else
+#     define SWIGEXPORT
+#   endif
+# endif
+#endif
+
+/* calling conventions for Windows */
+#ifndef SWIGSTDCALL
+# if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+#   define SWIGSTDCALL __stdcall
+# else
+#   define SWIGSTDCALL
+# endif 
+#endif
+
+/* Deal with Microsoft's attempt at deprecating C standard runtime functions */
+#if !defined(SWIG_NO_CRT_SECURE_NO_DEPRECATE) && defined(_MSC_VER) && !defined(_CRT_SECURE_NO_DEPRECATE)
+# define _CRT_SECURE_NO_DEPRECATE
+#endif
+
+/* -----------------------------------------------------------------------------
+ *  This section contains generic SWIG labels for method/variable
+ *  declarations/attributes, and other compiler dependent labels.
+ * ----------------------------------------------------------------------------- */
+
+/* template workaround for compilers that cannot correctly implement the C++ standard */
+#ifndef SWIGTEMPLATEDISAMBIGUATOR
+# if defined(__SUNPRO_CC)
+#   if (__SUNPRO_CC <= 0x560)
+#     define SWIGTEMPLATEDISAMBIGUATOR template
+#   else
+#     define SWIGTEMPLATEDISAMBIGUATOR 
+#   endif
+# else
+#   define SWIGTEMPLATEDISAMBIGUATOR 
+# endif
+#endif
+
+/* inline attribute */
+#ifndef SWIGINLINE
+# if defined(__cplusplus) || (defined(__GNUC__) && !defined(__STRICT_ANSI__))
+#   define SWIGINLINE inline
+# else
+#   define SWIGINLINE
+# endif
+#endif
+
+/* attribute recognised by some compilers to avoid 'unused' warnings */
+#ifndef SWIGUNUSED
+# if defined(__GNUC__)
+#   if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
+#     define SWIGUNUSED __attribute__ ((__unused__)) 
+#   else
+#     define SWIGUNUSED
+#   endif
+# elif defined(__ICC)
+#   define SWIGUNUSED __attribute__ ((__unused__)) 
+# else
+#   define SWIGUNUSED 
+# endif
+#endif
+
+#ifndef SWIGUNUSEDPARM
+# ifdef __cplusplus
+#   define SWIGUNUSEDPARM(p)
+# else
+#   define SWIGUNUSEDPARM(p) p SWIGUNUSED 
+# endif
+#endif
+
+/* internal SWIG method */
+#ifndef SWIGINTERN
+# define SWIGINTERN static SWIGUNUSED
+#endif
+
+/* internal inline SWIG method */
+#ifndef SWIGINTERNINLINE
+# define SWIGINTERNINLINE SWIGINTERN SWIGINLINE
+#endif
+
+/* exporting methods */
+#if (__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)
+#  ifndef GCC_HASCLASSVISIBILITY
+#    define GCC_HASCLASSVISIBILITY
+#  endif
+#endif
+
+#ifndef SWIGEXPORT
+# if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+#   if defined(STATIC_LINKED)
+#     define SWIGEXPORT
+#   else
+#     define SWIGEXPORT __declspec(dllexport)
+#   endif
+# else
+#   if defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
+#     define SWIGEXPORT __attribute__ ((visibility("default")))
+#   else
+#     define SWIGEXPORT
+#   endif
+# endif
+#endif
+
+/* calling conventions for Windows */
+#ifndef SWIGSTDCALL
+# if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+#   define SWIGSTDCALL __stdcall
+# else
+#   define SWIGSTDCALL
+# endif 
+#endif
+
+/* Deal with Microsoft's attempt at deprecating C standard runtime functions */
+#if !defined(SWIG_NO_CRT_SECURE_NO_DEPRECATE) && defined(_MSC_VER) && !defined(_CRT_SECURE_NO_DEPRECATE)
+# define _CRT_SECURE_NO_DEPRECATE
+#endif
+
+/* -----------------------------------------------------------------------------
+ * swigrun.swg
+ *
+ * This file contains generic CAPI SWIG runtime support for pointer
+ * type checking.
+ * ----------------------------------------------------------------------------- */
+
+/* This should only be incremented when either the layout of swig_type_info changes,
+   or for whatever reason, the runtime changes incompatibly */
+#define SWIG_RUNTIME_VERSION "3"
+
+/* define SWIG_TYPE_TABLE_NAME as "SWIG_TYPE_TABLE" */
+#ifdef SWIG_TYPE_TABLE
+# define SWIG_QUOTE_STRING(x) #x
+# define SWIG_EXPAND_AND_QUOTE_STRING(x) SWIG_QUOTE_STRING(x)
+# define SWIG_TYPE_TABLE_NAME SWIG_EXPAND_AND_QUOTE_STRING(SWIG_TYPE_TABLE)
+#else
+# define SWIG_TYPE_TABLE_NAME
+#endif
+
+/*
+  You can use the SWIGRUNTIME and SWIGRUNTIMEINLINE macros for
+  creating a static or dynamic library from the swig runtime code.
+  In 99.9% of the cases, swig just needs to declare them as 'static'.
+  
+  But only do this if is strictly necessary, ie, if you have problems
+  with your compiler or so.
+*/
+
+#ifndef SWIGRUNTIME
+# define SWIGRUNTIME SWIGINTERN
+#endif
+
+#ifndef SWIGRUNTIMEINLINE
+# define SWIGRUNTIMEINLINE SWIGRUNTIME SWIGINLINE
+#endif
+
+/*  Generic buffer size */
+#ifndef SWIG_BUFFER_SIZE
+# define SWIG_BUFFER_SIZE 1024
+#endif
+
+/* Flags for pointer conversions */
+#define SWIG_POINTER_DISOWN        0x1
+
+/* Flags for new pointer objects */
+#define SWIG_POINTER_OWN           0x1
+
+
+/* 
+   Flags/methods for returning states.
+   
+   The swig conversion methods, as ConvertPtr, return and integer 
+   that tells if the conversion was successful or not. And if not,
+   an error code can be returned (see swigerrors.swg for the codes).
+   
+   Use the following macros/flags to set or process the returning
+   states.
+   
+   In old swig versions, you usually write code as:
+
+     if (SWIG_ConvertPtr(obj,vptr,ty.flags) != -1) {
+       // success code
+     } else {
+       //fail code
+     }
+
+   Now you can be more explicit as:
+
+    int res = SWIG_ConvertPtr(obj,vptr,ty.flags);
+    if (SWIG_IsOK(res)) {
+      // success code
+    } else {
+      // fail code
+    }
+
+   that seems to be the same, but now you can also do
+
+    Type *ptr;
+    int res = SWIG_ConvertPtr(obj,(void **)(&ptr),ty.flags);
+    if (SWIG_IsOK(res)) {
+      // success code
+      if (SWIG_IsNewObj(res) {
+        ...
+	delete *ptr;
+      } else {
+        ...
+      }
+    } else {
+      // fail code
+    }
+    
+   I.e., now SWIG_ConvertPtr can return new objects and you can
+   identify the case and take care of the deallocation. Of course that
+   requires also to SWIG_ConvertPtr to return new result values, as
+
+      int SWIG_ConvertPtr(obj, ptr,...) {         
+        if (<obj is ok>) {			       
+          if (<need new object>) {		       
+            *ptr = <ptr to new allocated object>; 
+            return SWIG_NEWOBJ;		       
+          } else {				       
+            *ptr = <ptr to old object>;	       
+            return SWIG_OLDOBJ;		       
+          } 				       
+        } else {				       
+          return SWIG_BADOBJ;		       
+        }					       
+      }
+
+   Of course, returning the plain '0(success)/-1(fail)' still works, but you can be
+   more explicit by returning SWIG_BADOBJ, SWIG_ERROR or any of the
+   swig errors code.
+
+   Finally, if the SWIG_CASTRANK_MODE is enabled, the result code
+   allows to return the 'cast rank', for example, if you have this
+
+       int food(double)
+       int fooi(int);
+
+   and you call
+ 
+      food(1)   // cast rank '1'  (1 -> 1.0)
+      fooi(1)   // cast rank '0'
+
+   just use the SWIG_AddCast()/SWIG_CheckState()
+
+
+ */
+#define SWIG_OK                    (0) 
+#define SWIG_ERROR                 (-1)
+#define SWIG_IsOK(r)               (r >= 0)
+#define SWIG_ArgError(r)           ((r != SWIG_ERROR) ? r : SWIG_TypeError)  
+
+/* The CastRankLimit says how many bits are used for the cast rank */
+#define SWIG_CASTRANKLIMIT         (1 << 8)
+/* The NewMask denotes the object was created (using new/malloc) */
+#define SWIG_NEWOBJMASK            (SWIG_CASTRANKLIMIT  << 1)
+/* The TmpMask is for in/out typemaps that use temporal objects */
+#define SWIG_TMPOBJMASK            (SWIG_NEWOBJMASK << 1)
+/* Simple returning values */
+#define SWIG_BADOBJ                (SWIG_ERROR)
+#define SWIG_OLDOBJ                (SWIG_OK)
+#define SWIG_NEWOBJ                (SWIG_OK | SWIG_NEWOBJMASK)
+#define SWIG_TMPOBJ                (SWIG_OK | SWIG_TMPOBJMASK)
+/* Check, add and del mask methods */
+#define SWIG_AddNewMask(r)         (SWIG_IsOK(r) ? (r | SWIG_NEWOBJMASK) : r)
+#define SWIG_DelNewMask(r)         (SWIG_IsOK(r) ? (r & ~SWIG_NEWOBJMASK) : r)
+#define SWIG_IsNewObj(r)           (SWIG_IsOK(r) && (r & SWIG_NEWOBJMASK))
+#define SWIG_AddTmpMask(r)         (SWIG_IsOK(r) ? (r | SWIG_TMPOBJMASK) : r)
+#define SWIG_DelTmpMask(r)         (SWIG_IsOK(r) ? (r & ~SWIG_TMPOBJMASK) : r)
+#define SWIG_IsTmpObj(r)           (SWIG_IsOK(r) && (r & SWIG_TMPOBJMASK))
+
+
+/* Cast-Rank Mode */
+#if defined(SWIG_CASTRANK_MODE)
+#  ifndef SWIG_TypeRank
+#    define SWIG_TypeRank             unsigned long
+#  endif
+#  ifndef SWIG_MAXCASTRANK            /* Default cast allowed */
+#    define SWIG_MAXCASTRANK          (2)
+#  endif
+#  define SWIG_CASTRANKMASK          ((SWIG_CASTRANKLIMIT) -1)
+#  define SWIG_CastRank(r)           (r & SWIG_CASTRANKMASK)
+SWIGINTERNINLINE int SWIG_AddCast(int r) { 
+  return SWIG_IsOK(r) ? ((SWIG_CastRank(r) < SWIG_MAXCASTRANK) ? (r + 1) : SWIG_ERROR) : r;
+}
+SWIGINTERNINLINE int SWIG_CheckState(int r) { 
+  return SWIG_IsOK(r) ? SWIG_CastRank(r) + 1 : 0; 
+}
+#else /* no cast-rank mode */
+#  define SWIG_AddCast
+#  define SWIG_CheckState(r) (SWIG_IsOK(r) ? 1 : 0)
+#endif
+
+
+
+
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void *(*swig_converter_func)(void *);
+typedef struct swig_type_info *(*swig_dycast_func)(void **);
+
+/* Structure to store inforomation on one type */
+typedef struct swig_type_info {
+  const char             *name;			/* mangled name of this type */
+  const char             *str;			/* human readable name of this type */
+  swig_dycast_func        dcast;		/* dynamic cast function down a hierarchy */
+  struct swig_cast_info  *cast;			/* linked list of types that can cast into this type */
+  void                   *clientdata;		/* language specific type data */
+  int                    owndata;		/* flag if the structure owns the clientdata */
+} swig_type_info;
+
+/* Structure to store a type and conversion function used for casting */
+typedef struct swig_cast_info {
+  swig_type_info         *type;			/* pointer to type that is equivalent to this type */
+  swig_converter_func     converter;		/* function to cast the void pointers */
+  struct swig_cast_info  *next;			/* pointer to next cast in linked list */
+  struct swig_cast_info  *prev;			/* pointer to the previous cast */
+} swig_cast_info;
+
+/* Structure used to store module information
+ * Each module generates one structure like this, and the runtime collects
+ * all of these structures and stores them in a circularly linked list.*/
+typedef struct swig_module_info {
+  swig_type_info         **types;		/* Array of pointers to swig_type_info structures that are in this module */
+  size_t                 size;		        /* Number of types in this module */
+  struct swig_module_info *next;		/* Pointer to next element in circularly linked list */
+  swig_type_info         **type_initial;	/* Array of initially generated type structures */
+  swig_cast_info         **cast_initial;	/* Array of initially generated casting structures */
+  void                    *clientdata;		/* Language specific module data */
+} swig_module_info;
+
+/* 
+  Compare two type names skipping the space characters, therefore
+  "char*" == "char *" and "Class<int>" == "Class<int >", etc.
+
+  Return 0 when the two name types are equivalent, as in
+  strncmp, but skipping ' '.
+*/
+SWIGRUNTIME int
+SWIG_TypeNameComp(const char *f1, const char *l1,
+		  const char *f2, const char *l2) {
+  for (;(f1 != l1) && (f2 != l2); ++f1, ++f2) {
+    while ((*f1 == ' ') && (f1 != l1)) ++f1;
+    while ((*f2 == ' ') && (f2 != l2)) ++f2;
+    if (*f1 != *f2) return (*f1 > *f2) ? 1 : -1;
+  }
+  return (l1 - f1) - (l2 - f2);
+}
+
+/*
+  Check type equivalence in a name list like <name1>|<name2>|...
+  Return 0 if not equal, 1 if equal
+*/
+SWIGRUNTIME int
+SWIG_TypeEquiv(const char *nb, const char *tb) {
+  int equiv = 0;
+  const char* te = tb + strlen(tb);
+  const char* ne = nb;
+  while (!equiv && *ne) {
+    for (nb = ne; *ne; ++ne) {
+      if (*ne == '|') break;
+    }
+    equiv = (SWIG_TypeNameComp(nb, ne, tb, te) == 0) ? 1 : 0;
+    if (*ne) ++ne;
+  }
+  return equiv;
+}
+
+/*
+  Check type equivalence in a name list like <name1>|<name2>|...
+  Return 0 if equal, -1 if nb < tb, 1 if nb > tb
+*/
+SWIGRUNTIME int
+SWIG_TypeCompare(const char *nb, const char *tb) {
+  int equiv = 0;
+  const char* te = tb + strlen(tb);
+  const char* ne = nb;
+  while (!equiv && *ne) {
+    for (nb = ne; *ne; ++ne) {
+      if (*ne == '|') break;
+    }
+    equiv = (SWIG_TypeNameComp(nb, ne, tb, te) == 0) ? 1 : 0;
+    if (*ne) ++ne;
+  }
+  return equiv;
+}
+
+
+/* think of this as a c++ template<> or a scheme macro */
+#define SWIG_TypeCheck_Template(comparison, ty)         \
+  if (ty) {                                             \
+    swig_cast_info *iter = ty->cast;                    \
+    while (iter) {                                      \
+      if (comparison) {                                 \
+        if (iter == ty->cast) return iter;              \
+        /* Move iter to the top of the linked list */   \
+        iter->prev->next = iter->next;                  \
+        if (iter->next)                                 \
+          iter->next->prev = iter->prev;                \
+        iter->next = ty->cast;                          \
+        iter->prev = 0;                                 \
+        if (ty->cast) ty->cast->prev = iter;            \
+        ty->cast = iter;                                \
+        return iter;                                    \
+      }                                                 \
+      iter = iter->next;                                \
+    }                                                   \
+  }                                                     \
+  return 0
+
+/*
+  Check the typename
+*/
+SWIGRUNTIME swig_cast_info *
+SWIG_TypeCheck(const char *c, swig_type_info *ty) {
+  SWIG_TypeCheck_Template(strcmp(iter->type->name, c) == 0, ty);
+}
+
+/* Same as previous function, except strcmp is replaced with a pointer comparison */
+SWIGRUNTIME swig_cast_info *
+SWIG_TypeCheckStruct(swig_type_info *from, swig_type_info *into) {
+  SWIG_TypeCheck_Template(iter->type == from, into);
+}
+
+/*
+  Cast a pointer up an inheritance hierarchy
+*/
+SWIGRUNTIMEINLINE void *
+SWIG_TypeCast(swig_cast_info *ty, void *ptr) {
+  return ((!ty) || (!ty->converter)) ? ptr : (*ty->converter)(ptr);
+}
+
+/* 
+   Dynamic pointer casting. Down an inheritance hierarchy
+*/
+SWIGRUNTIME swig_type_info *
+SWIG_TypeDynamicCast(swig_type_info *ty, void **ptr) {
+  swig_type_info *lastty = ty;
+  if (!ty || !ty->dcast) return ty;
+  while (ty && (ty->dcast)) {
+    ty = (*ty->dcast)(ptr);
+    if (ty) lastty = ty;
+  }
+  return lastty;
+}
+
+/*
+  Return the name associated with this type
+*/
+SWIGRUNTIMEINLINE const char *
+SWIG_TypeName(const swig_type_info *ty) {
+  return ty->name;
+}
+
+/*
+  Return the pretty name associated with this type,
+  that is an unmangled type name in a form presentable to the user.
+*/
+SWIGRUNTIME const char *
+SWIG_TypePrettyName(const swig_type_info *type) {
+  /* The "str" field contains the equivalent pretty names of the
+     type, separated by vertical-bar characters.  We choose
+     to print the last name, as it is often (?) the most
+     specific. */
+  if (!type) return NULL;
+  if (type->str != NULL) {
+    const char *last_name = type->str;
+    const char *s;
+    for (s = type->str; *s; s++)
+      if (*s == '|') last_name = s+1;
+    return last_name;
+  }
+  else
+    return type->name;
+}
+
+/* 
+   Set the clientdata field for a type
+*/
+SWIGRUNTIME void
+SWIG_TypeClientData(swig_type_info *ti, void *clientdata) {
+  swig_cast_info *cast = ti->cast;
+  /* if (ti->clientdata == clientdata) return; */
+  ti->clientdata = clientdata;
+  
+  while (cast) {
+    if (!cast->converter) {
+      swig_type_info *tc = cast->type;
+      if (!tc->clientdata) {
+	SWIG_TypeClientData(tc, clientdata);
+      }
+    }    
+    cast = cast->next;
+  }
+}
+SWIGRUNTIME void
+SWIG_TypeNewClientData(swig_type_info *ti, void *clientdata) {
+  SWIG_TypeClientData(ti, clientdata);
+  ti->owndata = 1;
+}
+  
+/*
+  Search for a swig_type_info structure only by mangled name
+  Search is a O(log #types)
+  
+  We start searching at module start, and finish searching when start == end.  
+  Note: if start == end at the beginning of the function, we go all the way around
+  the circular list.
+*/
+SWIGRUNTIME swig_type_info *
+SWIG_MangledTypeQueryModule(swig_module_info *start, 
+                            swig_module_info *end, 
+		            const char *name) {
+  swig_module_info *iter = start;
+  do {
+    if (iter->size) {
+      register size_t l = 0;
+      register size_t r = iter->size - 1;
+      do {
+	/* since l+r >= 0, we can (>> 1) instead (/ 2) */
+	register size_t i = (l + r) >> 1; 
+	const char *iname = iter->types[i]->name;
+	if (iname) {
+	  register int compare = strcmp(name, iname);
+	  if (compare == 0) {	    
+	    return iter->types[i];
+	  } else if (compare < 0) {
+	    if (i) {
+	      r = i - 1;
+	    } else {
+	      break;
+	    }
+	  } else if (compare > 0) {
+	    l = i + 1;
+	  }
+	} else {
+	  break; /* should never happen */
+	}
+      } while (l <= r);
+    }
+    iter = iter->next;
+  } while (iter != end);
+  return 0;
+}
+
+/*
+  Search for a swig_type_info structure for either a mangled name or a human readable name.
+  It first searches the mangled names of the types, which is a O(log #types)
+  If a type is not found it then searches the human readable names, which is O(#types).
+  
+  We start searching at module start, and finish searching when start == end.  
+  Note: if start == end at the beginning of the function, we go all the way around
+  the circular list.
+*/
+SWIGRUNTIME swig_type_info *
+SWIG_TypeQueryModule(swig_module_info *start, 
+                     swig_module_info *end, 
+		     const char *name) {
+  /* STEP 1: Search the name field using binary search */
+  swig_type_info *ret = SWIG_MangledTypeQueryModule(start, end, name);
+  if (ret) {
+    return ret;
+  } else {
+    /* STEP 2: If the type hasn't been found, do a complete search
+       of the str field (the human readable name) */
+    swig_module_info *iter = start;
+    do {
+      register size_t i = 0;
+      for (; i < iter->size; ++i) {
+	if (iter->types[i]->str && (SWIG_TypeEquiv(iter->types[i]->str, name)))
+	  return iter->types[i];
+      }
+      iter = iter->next;
+    } while (iter != end);
+  }
+  
+  /* neither found a match */
+  return 0;
+}
+
+/* 
+   Pack binary data into a string
+*/
+SWIGRUNTIME char *
+SWIG_PackData(char *c, void *ptr, size_t sz) {
+  static const char hex[17] = "0123456789abcdef";
+  register const unsigned char *u = (unsigned char *) ptr;
+  register const unsigned char *eu =  u + sz;
+  for (; u != eu; ++u) {
+    register unsigned char uu = *u;
+    *(c++) = hex[(uu & 0xf0) >> 4];
+    *(c++) = hex[uu & 0xf];
+  }
+  return c;
+}
+
+/* 
+   Unpack binary data from a string
+*/
+SWIGRUNTIME const char *
+SWIG_UnpackData(const char *c, void *ptr, size_t sz) {
+  register unsigned char *u = (unsigned char *) ptr;
+  register const unsigned char *eu = u + sz;
+  for (; u != eu; ++u) {
+    register char d = *(c++);
+    register unsigned char uu;
+    if ((d >= '0') && (d <= '9'))
+      uu = ((d - '0') << 4);
+    else if ((d >= 'a') && (d <= 'f'))
+      uu = ((d - ('a'-10)) << 4);
+    else 
+      return (char *) 0;
+    d = *(c++);
+    if ((d >= '0') && (d <= '9'))
+      uu |= (d - '0');
+    else if ((d >= 'a') && (d <= 'f'))
+      uu |= (d - ('a'-10));
+    else 
+      return (char *) 0;
+    *u = uu;
+  }
+  return c;
+}
+
+/* 
+   Pack 'void *' into a string buffer.
+*/
+SWIGRUNTIME char *
+SWIG_PackVoidPtr(char *buff, void *ptr, const char *name, size_t bsz) {
+  char *r = buff;
+  if ((2*sizeof(void *) + 2) > bsz) return 0;
+  *(r++) = '_';
+  r = SWIG_PackData(r,&ptr,sizeof(void *));
+  if (strlen(name) + 1 > (bsz - (r - buff))) return 0;
+  strcpy(r,name);
+  return buff;
+}
+
+SWIGRUNTIME const char *
+SWIG_UnpackVoidPtr(const char *c, void **ptr, const char *name) {
+  if (*c != '_') {
+    if (strcmp(c,"NULL") == 0) {
+      *ptr = (void *) 0;
+      return name;
+    } else {
+      return 0;
+    }
+  }
+  return SWIG_UnpackData(++c,ptr,sizeof(void *));
+}
+
+SWIGRUNTIME char *
+SWIG_PackDataName(char *buff, void *ptr, size_t sz, const char *name, size_t bsz) {
+  char *r = buff;
+  size_t lname = (name ? strlen(name) : 0);
+  if ((2*sz + 2 + lname) > bsz) return 0;
+  *(r++) = '_';
+  r = SWIG_PackData(r,ptr,sz);
+  if (lname) {
+    strncpy(r,name,lname+1);
+  } else {
+    *r = 0;
+  }
+  return buff;
+}
+
+SWIGRUNTIME const char *
+SWIG_UnpackDataName(const char *c, void *ptr, size_t sz, const char *name) {
+  if (*c != '_') {
+    if (strcmp(c,"NULL") == 0) {
+      memset(ptr,0,sz);
+      return name;
+    } else {
+      return 0;
+    }
+  }
+  return SWIG_UnpackData(++c,ptr,sz);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+/*  Errors in SWIG */
+#define  SWIG_UnknownError    	   -1 
+#define  SWIG_IOError        	   -2 
+#define  SWIG_RuntimeError   	   -3 
+#define  SWIG_IndexError     	   -4 
+#define  SWIG_TypeError      	   -5 
+#define  SWIG_DivisionByZero 	   -6 
+#define  SWIG_OverflowError  	   -7 
+#define  SWIG_SyntaxError    	   -8 
+#define  SWIG_ValueError     	   -9 
+#define  SWIG_SystemError    	   -10
+#define  SWIG_AttributeError 	   -11
+#define  SWIG_MemoryError    	   -12 
+#define  SWIG_NullReferenceError   -13
+
+
+
+#include <ruby.h>
+
+/* Ruby 1.7 defines NUM2LL(), LL2NUM() and ULL2NUM() macros */
+#ifndef NUM2LL
+#define NUM2LL(x) NUM2LONG((x))
+#endif
+#ifndef LL2NUM
+#define LL2NUM(x) INT2NUM((long) (x))
+#endif
+#ifndef ULL2NUM
+#define ULL2NUM(x) UINT2NUM((unsigned long) (x))
+#endif
+
+/* Ruby 1.7 doesn't (yet) define NUM2ULL() */
+#ifndef NUM2ULL
+#ifdef HAVE_LONG_LONG
+#define NUM2ULL(x) rb_num2ull((x))
+#else
+#define NUM2ULL(x) NUM2ULONG(x)
+#endif
+#endif
+
+/* RSTRING_LEN, etc are new in Ruby 1.9, but ->ptr and ->len no longer work */
+/* Define these for older versions so we can just write code the new way */
+#ifndef RSTRING_LEN
+# define RSTRING_LEN(x) RSTRING(x)->len
+#endif
+#ifndef RSTRING_PTR
+# define RSTRING_PTR(x) RSTRING(x)->ptr
+#endif
+#ifndef RARRAY_LEN
+# define RARRAY_LEN(x) RARRAY(x)->len
+#endif
+#ifndef RARRAY_PTR
+# define RARRAY_PTR(x) RARRAY(x)->ptr
+#endif
+
+/*
+ * Need to be very careful about how these macros are defined, especially
+ * when compiling C++ code or C code with an ANSI C compiler.
+ *
+ * VALUEFUNC(f) is a macro used to typecast a C function that implements
+ * a Ruby method so that it can be passed as an argument to API functions
+ * like rb_define_method() and rb_define_singleton_method().
+ *
+ * VOIDFUNC(f) is a macro used to typecast a C function that implements
+ * either the "mark" or "free" stuff for a Ruby Data object, so that it
+ * can be passed as an argument to API functions like Data_Wrap_Struct()
+ * and Data_Make_Struct().
+ */
+ 
+#ifdef __cplusplus
+#  ifndef RUBY_METHOD_FUNC /* These definitions should work for Ruby 1.4.6 */
+#    define PROTECTFUNC(f) ((VALUE (*)()) f)
+#    define VALUEFUNC(f) ((VALUE (*)()) f)
+#    define VOIDFUNC(f)  ((void (*)()) f)
+#  else
+#    ifndef ANYARGS /* These definitions should work for Ruby 1.6 */
+#      define PROTECTFUNC(f) ((VALUE (*)()) f)
+#      define VALUEFUNC(f) ((VALUE (*)()) f)
+#      define VOIDFUNC(f)  ((RUBY_DATA_FUNC) f)
+#    else /* These definitions should work for Ruby 1.7+ */
+#      define PROTECTFUNC(f) ((VALUE (*)(VALUE)) f)
+#      define VALUEFUNC(f) ((VALUE (*)(ANYARGS)) f)
+#      define VOIDFUNC(f)  ((RUBY_DATA_FUNC) f)
+#    endif
+#  endif
+#else
+#  define VALUEFUNC(f) (f)
+#  define VOIDFUNC(f) (f)
+#endif
+
+/* Don't use for expressions have side effect */
+#ifndef RB_STRING_VALUE
+#define RB_STRING_VALUE(s) (TYPE(s) == T_STRING ? (s) : (*(volatile VALUE *)&(s) = rb_str_to_str(s)))
+#endif
+#ifndef StringValue
+#define StringValue(s) RB_STRING_VALUE(s)
+#endif
+#ifndef StringValuePtr
+#define StringValuePtr(s) RSTRING_PTR(RB_STRING_VALUE(s))
+#endif
+#ifndef StringValueLen
+#define StringValueLen(s) RSTRING_LEN(RB_STRING_VALUE(s))
+#endif
+#ifndef SafeStringValue
+#define SafeStringValue(v) do {\
+    StringValue(v);\
+    rb_check_safe_str(v);\
+} while (0)
+#endif
+
+#ifndef HAVE_RB_DEFINE_ALLOC_FUNC
+#define rb_define_alloc_func(klass, func) rb_define_singleton_method((klass), "new", VALUEFUNC((func)), -1)
+#define rb_undef_alloc_func(klass) rb_undef_method(CLASS_OF((klass)), "new")
+#endif
+
+
+/* -----------------------------------------------------------------------------
+ * error manipulation
+ * ----------------------------------------------------------------------------- */
+
+
+/* Define some additional error types */
+#define SWIG_ObjectPreviouslyDeletedError  -100
+
+
+/* Define custom exceptions for errors that do not map to existing Ruby
+   exceptions.  Note this only works for C++ since a global cannot be
+   initialized by a funtion in C.  For C, fallback to rb_eRuntimeError.*/
+
+SWIGINTERN VALUE 
+getNullReferenceError(void) {
+  static int init = 0;
+  static VALUE rb_eNullReferenceError ;
+  if (!init) {
+    init = 1;
+    rb_eNullReferenceError = rb_define_class("NullReferenceError", rb_eRuntimeError);
+  }
+  return rb_eNullReferenceError;
+} 
+
+SWIGINTERN VALUE 
+getObjectPreviouslyDeletedError(void) {
+  static int init = 0;
+  static VALUE rb_eObjectPreviouslyDeleted ;
+  if (!init) {
+    init = 1;
+    rb_eObjectPreviouslyDeleted = rb_define_class("ObjectPreviouslyDeleted", rb_eRuntimeError);
+  }
+  return rb_eObjectPreviouslyDeleted;
+} 
+
+
+SWIGINTERN VALUE
+SWIG_Ruby_ErrorType(int SWIG_code) {
+  VALUE type;
+  switch (SWIG_code) {
+  case SWIG_MemoryError:
+    type = rb_eNoMemError;
+    break;
+  case SWIG_IOError:
+    type = rb_eIOError;
+    break;
+  case SWIG_RuntimeError:
+    type = rb_eRuntimeError;
+    break;
+  case SWIG_IndexError:
+    type = rb_eIndexError;
+    break;
+  case SWIG_TypeError:
+    type = rb_eTypeError;
+    break;
+  case SWIG_DivisionByZero:
+    type = rb_eZeroDivError;
+    break;
+  case SWIG_OverflowError:
+    type = rb_eRangeError;
+    break;
+  case SWIG_SyntaxError:
+    type = rb_eSyntaxError;
+    break;
+  case SWIG_ValueError:
+    type = rb_eArgError;
+    break;
+  case SWIG_SystemError:
+    type = rb_eFatal;
+    break;
+  case SWIG_AttributeError:
+    type = rb_eRuntimeError;
+    break;
+  case SWIG_NullReferenceError:
+    type = getNullReferenceError();
+    break;
+  case SWIG_ObjectPreviouslyDeletedError:
+    type = getObjectPreviouslyDeletedError();
+    break;
+  case SWIG_UnknownError:
+    type = rb_eRuntimeError;
+    break;
+  default:
+    type = rb_eRuntimeError;
+  }
+  return type;
+}
+
+
+
+
+/* -----------------------------------------------------------------------------
+ * See the LICENSE file for information on copyright, usage and redistribution
+ * of SWIG, and the README file for authors - http://www.swig.org/release.html.
+ *
+ * rubytracking.swg
+ *
+ * This file contains support for tracking mappings from 
+ * Ruby objects to C++ objects.  This functionality is needed
+ * to implement mark functions for Ruby's mark and sweep
+ * garbage collector.
+ * ----------------------------------------------------------------------------- */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Global Ruby hash table to store Trackings from C/C++
+   structs to Ruby Objects. */
+static VALUE swig_ruby_trackings;
+
+/* Global variable that stores a reference to the ruby
+   hash table delete function. */
+static ID swig_ruby_hash_delete = 0;
+
+/* Setup a Ruby hash table to store Trackings */
+SWIGRUNTIME void SWIG_RubyInitializeTrackings(void) {
+  /* Create a ruby hash table to store Trackings from C++ 
+     objects to Ruby objects.  Also make sure to tell
+     the garabage collector about the hash table. */
+  swig_ruby_trackings = rb_hash_new();
+  rb_gc_register_address(&swig_ruby_trackings);
+  
+  /* Now store a reference to the hash table delete function
+     so that we only have to look it up once.*/
+  swig_ruby_hash_delete = rb_intern("delete");
+}
+
+/* Get a Ruby number to reference a pointer */
+SWIGRUNTIME VALUE SWIG_RubyPtrToReference(void* ptr) {
+  /* We cast the pointer to an unsigned long
+     and then store a reference to it using
+     a Ruby number object. */
+
+  /* Convert the pointer to a Ruby number */
+  unsigned long value = (unsigned long) ptr;
+  return LONG2NUM(value);
+}
+
+/* Get a Ruby number to reference an object */
+SWIGRUNTIME VALUE SWIG_RubyObjectToReference(VALUE object) {
+  /* We cast the object to an unsigned long
+     and then store a reference to it using
+     a Ruby number object. */
+
+  /* Convert the Object to a Ruby number */
+  unsigned long value = (unsigned long) object;
+  return LONG2NUM(value);
+}
+
+/* Get a Ruby object from a previously stored reference */
+SWIGRUNTIME VALUE SWIG_RubyReferenceToObject(VALUE reference) {
+  /* The provided Ruby number object is a reference
+     to the Ruby object we want.*/
+
+  /* First convert the Ruby number to a C number */
+  unsigned long value = NUM2LONG(reference);
+  return (VALUE) value;
+}
+
+/* Add a Tracking from a C/C++ struct to a Ruby object */
+SWIGRUNTIME void SWIG_RubyAddTracking(void* ptr, VALUE object) {
+  /* In a Ruby hash table we store the pointer and
+     the associated Ruby object.  The trick here is
+     that we cannot store the Ruby object directly - if
+     we do then it cannot be garbage collected.  So
+     instead we typecast it as a unsigned long and
+     convert it to a Ruby number object.*/
+
+  /* Get a reference to the pointer as a Ruby number */
+  VALUE key = SWIG_RubyPtrToReference(ptr);
+
+  /* Get a reference to the Ruby object as a Ruby number */
+  VALUE value = SWIG_RubyObjectToReference(object);
+
+  /* Store the mapping to the global hash table. */
+  rb_hash_aset(swig_ruby_trackings, key, value);
+}
+
+/* Get the Ruby object that owns the specified C/C++ struct */
+SWIGRUNTIME VALUE SWIG_RubyInstanceFor(void* ptr) {
+  /* Get a reference to the pointer as a Ruby number */
+  VALUE key = SWIG_RubyPtrToReference(ptr);
+
+  /* Now lookup the value stored in the global hash table */
+  VALUE value = rb_hash_aref(swig_ruby_trackings, key);
+	
+  if (value == Qnil) {
+    /* No object exists - return nil. */
+    return Qnil;
+  }
+  else {
+    /* Convert this value to Ruby object */
+    return SWIG_RubyReferenceToObject(value);
+  }
+}
+
+/* Remove a Tracking from a C/C++ struct to a Ruby object.  It
+   is very important to remove objects once they are destroyed
+   since the same memory address may be reused later to create
+   a new object. */
+SWIGRUNTIME void SWIG_RubyRemoveTracking(void* ptr) {
+  /* Get a reference to the pointer as a Ruby number */
+  VALUE key = SWIG_RubyPtrToReference(ptr);
+
+  /* Delete the object from the hash table by calling Ruby's
+     do this we need to call the Hash.delete method.*/
+  rb_funcall(swig_ruby_trackings, swig_ruby_hash_delete, 1, key);
+}
+
+/* This is a helper method that unlinks a Ruby object from its
+   underlying C++ object.  This is needed if the lifetime of the
+   Ruby object is longer than the C++ object */
+SWIGRUNTIME void SWIG_RubyUnlinkObjects(void* ptr) {
+  VALUE object = SWIG_RubyInstanceFor(ptr);
+
+  if (object != Qnil) {
+    DATA_PTR(object) = 0;
+  }
+}
+
+
+#ifdef __cplusplus
+}
+#endif
+
+/* -----------------------------------------------------------------------------
+ * Ruby API portion that goes into the runtime
+ * ----------------------------------------------------------------------------- */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+SWIGINTERN VALUE
+SWIG_Ruby_AppendOutput(VALUE target, VALUE o) {
+  if (NIL_P(target)) {
+    target = o;
+  } else {
+    if (TYPE(target) != T_ARRAY) {
+      VALUE o2 = target;
+      target = rb_ary_new();
+      rb_ary_push(target, o2);
+    }
+    rb_ary_push(target, o);
+  }
+  return target;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+
+/* -----------------------------------------------------------------------------
+ * See the LICENSE file for information on copyright, usage and redistribution
+ * of SWIG, and the README file for authors - http://www.swig.org/release.html.
+ *
+ * rubyrun.swg
+ *
+ * This file contains the runtime support for Ruby modules
+ * and includes code for managing global variables and pointer
+ * type checking.
+ * ----------------------------------------------------------------------------- */
+
+/* For backward compatibility only */
+#define SWIG_POINTER_EXCEPTION  0
+
+/* for raw pointers */
+#define SWIG_ConvertPtr(obj, pptr, type, flags)         SWIG_Ruby_ConvertPtrAndOwn(obj, pptr, type, flags, 0)
+#define SWIG_ConvertPtrAndOwn(obj,pptr,type,flags,own)  SWIG_Ruby_ConvertPtrAndOwn(obj, pptr, type, flags, own)
+#define SWIG_NewPointerObj(ptr, type, flags)            SWIG_Ruby_NewPointerObj(ptr, type, flags)
+#define SWIG_AcquirePtr(ptr, own)                       SWIG_Ruby_AcquirePtr(ptr, own)
+#define swig_owntype                                    ruby_owntype
+
+/* for raw packed data */
+#define SWIG_ConvertPacked(obj, ptr, sz, ty)            SWIG_Ruby_ConvertPacked(obj, ptr, sz, ty, flags)
+#define SWIG_NewPackedObj(ptr, sz, type)                SWIG_Ruby_NewPackedObj(ptr, sz, type)
+
+/* for class or struct pointers */
+#define SWIG_ConvertInstance(obj, pptr, type, flags)    SWIG_ConvertPtr(obj, pptr, type, flags)
+#define SWIG_NewInstanceObj(ptr, type, flags)           SWIG_NewPointerObj(ptr, type, flags)
+
+/* for C or C++ function pointers */
+#define SWIG_ConvertFunctionPtr(obj, pptr, type)        SWIG_ConvertPtr(obj, pptr, type, 0)
+#define SWIG_NewFunctionPtrObj(ptr, type)               SWIG_NewPointerObj(ptr, type, 0)
+
+/* for C++ member pointers, ie, member methods */
+#define SWIG_ConvertMember(obj, ptr, sz, ty)            SWIG_Ruby_ConvertPacked(obj, ptr, sz, ty)
+#define SWIG_NewMemberObj(ptr, sz, type)                SWIG_Ruby_NewPackedObj(ptr, sz, type)
+
+
+/* Runtime API */
+
+#define SWIG_GetModule(clientdata)                      SWIG_Ruby_GetModule()	
+#define SWIG_SetModule(clientdata, pointer) 		SWIG_Ruby_SetModule(pointer)
+
+
+/* Error manipulation */
+
+#define SWIG_ErrorType(code)                            SWIG_Ruby_ErrorType(code)               
+#define SWIG_Error(code, msg)            		rb_raise(SWIG_Ruby_ErrorType(code), msg)
+#define SWIG_fail                        		goto fail				 
+
+
+/* Ruby-specific SWIG API */
+
+#define SWIG_InitRuntime()                              SWIG_Ruby_InitRuntime()              
+#define SWIG_define_class(ty)                        	SWIG_Ruby_define_class(ty)
+#define SWIG_NewClassInstance(value, ty)             	SWIG_Ruby_NewClassInstance(value, ty)
+#define SWIG_MangleStr(value)                        	SWIG_Ruby_MangleStr(value)		  
+#define SWIG_CheckConvert(value, ty)                 	SWIG_Ruby_CheckConvert(value, ty)	  
+
+
+/* -----------------------------------------------------------------------------
+ * pointers/data manipulation
+ * ----------------------------------------------------------------------------- */
+
+#ifdef __cplusplus
+extern "C" {
+#if 0
+} /* cc-mode */
+#endif
+#endif
+
+typedef struct {
+  VALUE klass;
+  VALUE mImpl;
+  void  (*mark)(void *);
+  void  (*destroy)(void *);
+  int trackObjects;
+} swig_class;
+
+
+static VALUE _mSWIG = Qnil;
+static VALUE _cSWIG_Pointer = Qnil;
+static VALUE swig_runtime_data_type_pointer = Qnil;
+
+SWIGRUNTIME VALUE 
+getExceptionClass(void) {
+  static int init = 0;
+  static VALUE rubyExceptionClass ;
+  if (!init) {
+    init = 1;
+    rubyExceptionClass = rb_const_get(_mSWIG, rb_intern("Exception"));
+  }
+  return rubyExceptionClass;
+} 
+
+/* This code checks to see if the Ruby object being raised as part
+   of an exception inherits from the Ruby class Exception.  If so,
+   the object is simply returned.  If not, then a new Ruby exception
+   object is created and that will be returned to Ruby.*/
+SWIGRUNTIME VALUE
+SWIG_Ruby_ExceptionType(swig_type_info *desc, VALUE obj) {
+  VALUE exceptionClass = getExceptionClass();
+  if (rb_obj_is_kind_of(obj, exceptionClass)) {
+    return obj;
+  }  else {
+    return rb_exc_new3(rb_eRuntimeError, rb_obj_as_string(obj));
+  }
+}
+
+/* Initialize Ruby runtime support */
+SWIGRUNTIME void
+SWIG_Ruby_InitRuntime(void)
+{
+  if (_mSWIG == Qnil) {
+    _mSWIG = rb_define_module("SWIG");
+  }
+}
+
+/* Define Ruby class for C type */
+SWIGRUNTIME void
+SWIG_Ruby_define_class(swig_type_info *type)
+{
+  VALUE klass;
+  char *klass_name = (char *) malloc(4 + strlen(type->name) + 1);
+  sprintf(klass_name, "TYPE%s", type->name);
+  if (NIL_P(_cSWIG_Pointer)) {
+    _cSWIG_Pointer = rb_define_class_under(_mSWIG, "Pointer", rb_cObject);
+    rb_undef_method(CLASS_OF(_cSWIG_Pointer), "new");
+  }
+  klass = rb_define_class_under(_mSWIG, klass_name, _cSWIG_Pointer);
+  free((void *) klass_name);
+}
+
+/* Create a new pointer object */
+SWIGRUNTIME VALUE
+SWIG_Ruby_NewPointerObj(void *ptr, swig_type_info *type, int flags)
+{
+  int own =  flags & SWIG_POINTER_OWN; 
+  
+  char *klass_name;
+  swig_class *sklass;
+  VALUE klass;
+  VALUE obj;
+  
+  if (!ptr)
+    return Qnil;
+  
+  if (type->clientdata) {
+    sklass = (swig_class *) type->clientdata;
+		
+    /* Are we tracking this class and have we already returned this Ruby object? */
+    if (sklass->trackObjects) {
+      obj = SWIG_RubyInstanceFor(ptr);
+      
+      /* Check the object's type and make sure it has the correct type.
+        It might not in cases where methods do things like 
+        downcast methods. */
+      if (obj != Qnil) {
+        VALUE value = rb_iv_get(obj, "__swigtype__");
+        char* type_name = RSTRING_PTR(value);
+				
+        if (strcmp(type->name, type_name) == 0) {
+          return obj;
+        }
+      }
+    }
+
+    /* Create a new Ruby object */
+    obj = Data_Wrap_Struct(sklass->klass, VOIDFUNC(sklass->mark), (own ? VOIDFUNC(sklass->destroy) : 0), ptr);
+
+    /* If tracking is on for this class then track this object. */
+    if (sklass->trackObjects) {
+      SWIG_RubyAddTracking(ptr, obj);
+    }
+  } else {
+    klass_name = (char *) malloc(4 + strlen(type->name) + 1);
+    sprintf(klass_name, "TYPE%s", type->name);
+    klass = rb_const_get(_mSWIG, rb_intern(klass_name));
+    free((void *) klass_name);
+    obj = Data_Wrap_Struct(klass, 0, 0, ptr);
+  }
+  rb_iv_set(obj, "__swigtype__", rb_str_new2(type->name));
+  
+  return obj;
+}
+
+/* Create a new class instance (always owned) */
+SWIGRUNTIME VALUE
+SWIG_Ruby_NewClassInstance(VALUE klass, swig_type_info *type)
+{
+  VALUE obj;
+  swig_class *sklass = (swig_class *) type->clientdata;
+  obj = Data_Wrap_Struct(klass, VOIDFUNC(sklass->mark), VOIDFUNC(sklass->destroy), 0);
+  rb_iv_set(obj, "__swigtype__", rb_str_new2(type->name));
+  return obj;
+}
+
+/* Get type mangle from class name */
+SWIGRUNTIMEINLINE char *
+SWIG_Ruby_MangleStr(VALUE obj)
+{
+  VALUE stype = rb_iv_get(obj, "__swigtype__");
+  return StringValuePtr(stype);
+}
+
+/* Acquire a pointer value */
+typedef void (*ruby_owntype)(void*);
+
+SWIGRUNTIME ruby_owntype
+SWIG_Ruby_AcquirePtr(VALUE obj, ruby_owntype own) {
+  if (obj) {
+    ruby_owntype oldown = RDATA(obj)->dfree;
+    RDATA(obj)->dfree = own;
+    return oldown;
+  } else {
+    return 0;
+  }
+}
+
+/* Convert a pointer value */
+SWIGRUNTIME int
+SWIG_Ruby_ConvertPtrAndOwn(VALUE obj, void **ptr, swig_type_info *ty, int flags, ruby_owntype *own)
+{
+  char *c;
+  swig_cast_info *tc;
+  void *vptr = 0;
+
+  /* Grab the pointer */
+  if (NIL_P(obj)) {
+    *ptr = 0;
+    return SWIG_OK;
+  } else {
+    if (TYPE(obj) != T_DATA) {
+      return SWIG_ERROR;
+    }
+    Data_Get_Struct(obj, void, vptr);
+  }
+  
+  if (own) *own = RDATA(obj)->dfree;
+    
+  /* Check to see if the input object is giving up ownership
+     of the underlying C struct or C++ object.  If so then we
+     need to reset the destructor since the Ruby object no 
+     longer owns the underlying C++ object.*/ 
+  if (flags & SWIG_POINTER_DISOWN) {
+    /* Is tracking on for this class? */
+    int track = 0;
+    if (ty && ty->clientdata) {
+      swig_class *sklass = (swig_class *) ty->clientdata;
+      track = sklass->trackObjects;
+    }
+		
+    if (track) {
+      /* We are tracking objects for this class.  Thus we change the destructor
+       * to SWIG_RubyRemoveTracking.  This allows us to
+       * remove the mapping from the C++ to Ruby object
+       * when the Ruby object is garbage collected.  If we don't
+       * do this, then it is possible we will return a reference 
+       * to a Ruby object that no longer exists thereby crashing Ruby. */
+      RDATA(obj)->dfree = SWIG_RubyRemoveTracking;
+    } else {    
+      RDATA(obj)->dfree = 0;
+    }
+  }
+
+  /* Do type-checking if type info was provided */
+  if (ty) {
+    if (ty->clientdata) {
+      if (rb_obj_is_kind_of(obj, ((swig_class *) (ty->clientdata))->klass)) {
+        if (vptr == 0) {
+          /* The object has already been deleted */
+          return SWIG_ObjectPreviouslyDeletedError;
+        }
+        *ptr = vptr;
+        return SWIG_OK;
+      }
+    }
+    if ((c = SWIG_MangleStr(obj)) == NULL) {
+      return SWIG_ERROR;
+    }
+    tc = SWIG_TypeCheck(c, ty);
+    if (!tc) {
+      return SWIG_ERROR;
+    }
+    *ptr = SWIG_TypeCast(tc, vptr);
+  } else {
+    *ptr = vptr;
+  }
+  
+  return SWIG_OK;
+}
+
+/* Check convert */
+SWIGRUNTIMEINLINE int
+SWIG_Ruby_CheckConvert(VALUE obj, swig_type_info *ty)
+{
+  char *c = SWIG_MangleStr(obj);
+  if (!c) return 0;
+  return SWIG_TypeCheck(c,ty) != 0;
+}
+
+SWIGRUNTIME VALUE
+SWIG_Ruby_NewPackedObj(void *ptr, int sz, swig_type_info *type) {
+  char result[1024];
+  char *r = result;
+  if ((2*sz + 1 + strlen(type->name)) > 1000) return 0;
+  *(r++) = '_';
+  r = SWIG_PackData(r, ptr, sz);
+  strcpy(r, type->name);
+  return rb_str_new2(result);
+}
+
+/* Convert a packed value value */
+SWIGRUNTIME int
+SWIG_Ruby_ConvertPacked(VALUE obj, void *ptr, int sz, swig_type_info *ty) {
+  swig_cast_info *tc;
+  const char  *c;
+
+  if (TYPE(obj) != T_STRING) goto type_error;
+  c = StringValuePtr(obj);
+  /* Pointer values must start with leading underscore */
+  if (*c != '_') goto type_error;
+  c++;
+  c = SWIG_UnpackData(c, ptr, sz);
+  if (ty) {
+    tc = SWIG_TypeCheck(c, ty);
+    if (!tc) goto type_error;
+  }
+  return SWIG_OK;
+
+ type_error:
+  return SWIG_ERROR;
+}
+
+SWIGRUNTIME swig_module_info *
+SWIG_Ruby_GetModule(void)
+{
+  VALUE pointer;
+  swig_module_info *ret = 0;
+  VALUE verbose = rb_gv_get("VERBOSE");
+
+ /* temporarily disable warnings, since the pointer check causes warnings with 'ruby -w' */
+  rb_gv_set("VERBOSE", Qfalse);
+  
+  /* first check if pointer already created */
+  pointer = rb_gv_get("$swig_runtime_data_type_pointer" SWIG_RUNTIME_VERSION SWIG_TYPE_TABLE_NAME);
+  if (pointer != Qnil) {
+    Data_Get_Struct(pointer, swig_module_info, ret);
+  }
+
+  /* reinstate warnings */
+  rb_gv_set("VERBOSE", verbose);
+  return ret;
+}
+
+SWIGRUNTIME void 
+SWIG_Ruby_SetModule(swig_module_info *pointer)
+{
+  /* register a new class */
+  VALUE cl = rb_define_class("swig_runtime_data", rb_cObject);
+  /* create and store the structure pointer to a global variable */
+  swig_runtime_data_type_pointer = Data_Wrap_Struct(cl, 0, 0, pointer);
+  rb_define_readonly_variable("$swig_runtime_data_type_pointer" SWIG_RUNTIME_VERSION SWIG_TYPE_TABLE_NAME, &swig_runtime_data_type_pointer);
+}
+
+#ifdef __cplusplus
+#if 0
+{ /* cc-mode */
+#endif
+}
+#endif
+
+
+
+#define SWIG_exception_fail(code, msg) do { SWIG_Error(code, msg); SWIG_fail; } while(0) 
+
+#define SWIG_contract_assert(expr, msg) if (!(expr)) { SWIG_Error(SWIG_RuntimeError, msg); SWIG_fail; } else 
+
+
+
+/* -------- TYPES TABLE (BEGIN) -------- */
+
+#define SWIGTYPE_p_AStarSearchTMapSearchNode_t swig_types[0]
+#define SWIGTYPE_p_HeyesDriver swig_types[1]
+#define SWIGTYPE_p_Map swig_types[2]
+#define SWIGTYPE_p_MapSearchNode swig_types[3]
+#define SWIGTYPE_p_char swig_types[4]
+#define SWIGTYPE_p_clock_t swig_types[5]
+#define SWIGTYPE_p_int swig_types[6]
+static swig_type_info *swig_types[8];
+static swig_module_info swig_module = {swig_types, 7, 0, 0, 0, 0};
+#define SWIG_TypeQuery(name) SWIG_TypeQueryModule(&swig_module, &swig_module, name)
+#define SWIG_MangledTypeQuery(name) SWIG_MangledTypeQueryModule(&swig_module, &swig_module, name)
+
+/* -------- TYPES TABLE (END) -------- */
+
+#define SWIG_init    Init_heyes
+#define SWIG_name    "Heyes"
+
+static VALUE mHeyes;
+
+#define SWIGVERSION 0x010331 
+#define SWIG_VERSION SWIGVERSION
+
+
+#define SWIG_as_voidptr(a) const_cast< void * >(static_cast< const void * >(a)) 
+#define SWIG_as_voidptrptr(a) ((void)SWIG_as_voidptr(*a),reinterpret_cast< void** >(a)) 
+
+
+#include <stdexcept>
+
+
+#include "../ext/stlastar.h"
+#include "../ext/findpath.h"
+
+
+#include <limits.h>
+#ifndef LLONG_MIN
+# define LLONG_MIN	LONG_LONG_MIN
+#endif
+#ifndef LLONG_MAX
+# define LLONG_MAX	LONG_LONG_MAX
+#endif
+#ifndef ULLONG_MAX
+# define ULLONG_MAX	ULONG_LONG_MAX
+#endif
+
+
+  #define SWIG_From_long   LONG2NUM 
+
+
+SWIGINTERNINLINE VALUE
+SWIG_From_int  (int value)
+{    
+  return SWIG_From_long  (value);
+}
+
+
+SWIGINTERN VALUE
+SWIG_ruby_failed(void)
+{
+  return Qnil;
+} 
+
+
+/*@SWIG:%ruby_aux_method@*/
+SWIGINTERN VALUE SWIG_AUX_NUM2LONG(VALUE *args)
+{
+  VALUE obj = args[0];
+  VALUE type = TYPE(obj);
+  long *res = (long *)(args[1]);
+  *res = type == T_FIXNUM ? NUM2LONG(obj) : rb_big2long(obj);
+  return obj;
+}
+/*@SWIG@*/
+
+SWIGINTERN int
+SWIG_AsVal_long (VALUE obj, long* val)
+{
+  VALUE type = TYPE(obj);
+  if ((type == T_FIXNUM) || (type == T_BIGNUM)) {
+    long v;
+    VALUE a[2];
+    a[0] = obj;
+    a[1] = (VALUE)(&v);
+    if (rb_rescue(RUBY_METHOD_FUNC(SWIG_AUX_NUM2LONG), (VALUE)a, RUBY_METHOD_FUNC(SWIG_ruby_failed), 0) != Qnil) {
+      if (val) *val = v;
+      return SWIG_OK;
+    }
+  }
+  return SWIG_TypeError;
+}
+
+
+SWIGINTERN int
+SWIG_AsVal_int (VALUE obj, int *val)
+{
+  long v;
+  int res = SWIG_AsVal_long (obj, &v);
+  if (SWIG_IsOK(res)) {
+    if ((v < INT_MIN || v > INT_MAX)) {
+      return SWIG_OverflowError;
+    } else {
+      if (val) *val = static_cast< int >(v);
+    }
+  }  
+  return res;
+}
+
+
+/*@SWIG:%ruby_aux_method@*/
+SWIGINTERN VALUE SWIG_AUX_NUM2ULONG(VALUE *args)
+{
+  VALUE obj = args[0];
+  VALUE type = TYPE(obj);
+  unsigned long *res = (unsigned long *)(args[1]);
+  *res = type == T_FIXNUM ? NUM2ULONG(obj) : rb_big2ulong(obj);
+  return obj;
+}
+/*@SWIG@*/
+
+SWIGINTERN int
+SWIG_AsVal_unsigned_SS_long (VALUE obj, unsigned long *val) 
+{
+  VALUE type = TYPE(obj);
+  if ((type == T_FIXNUM) || (type == T_BIGNUM)) {
+    unsigned long v;
+    VALUE a[2];
+    a[0] = obj;
+    a[1] = (VALUE)(&v);
+    if (rb_rescue(RUBY_METHOD_FUNC(SWIG_AUX_NUM2ULONG), (VALUE)a, RUBY_METHOD_FUNC(SWIG_ruby_failed), 0) != Qnil) {
+      if (val) *val = v;
+      return SWIG_OK;
+    }
+  }
+  return SWIG_TypeError;
+}
+
+
+SWIGINTERN int
+SWIG_AsVal_unsigned_SS_int (VALUE obj, unsigned int *val)
+{
+  unsigned long v;
+  int res = SWIG_AsVal_unsigned_SS_long (obj, &v);
+  if (SWIG_IsOK(res)) {
+    if ((v > UINT_MAX)) {
+      return SWIG_OverflowError;
+    } else {
+      if (val) *val = static_cast< unsigned int >(v);
+    }
+  }  
+  return res;
+}
+
+
+SWIGINTERNINLINE VALUE
+SWIG_From_unsigned_SS_long  (unsigned long value)
+{
+  return ULONG2NUM(value); 
+}
+
+
+SWIGINTERNINLINE VALUE
+SWIG_From_unsigned_SS_int  (unsigned int value)
+{    
+  return SWIG_From_unsigned_SS_long  (value);
+}
+
+
+  #define SWIG_From_double   rb_float_new 
+
+
+SWIGINTERNINLINE VALUE
+SWIG_From_float  (float value)
+{    
+  return SWIG_From_double  (value);
+}
+
+
+SWIGINTERNINLINE VALUE
+SWIG_From_bool  (bool value)
+{
+  return value ? Qtrue : Qfalse;
+}
+
+
+/*@SWIG:%ruby_aux_method@*/
+SWIGINTERN VALUE SWIG_AUX_NUM2DBL(VALUE *args)
+{
+  VALUE obj = args[0];
+  VALUE type = TYPE(obj);
+  double *res = (double *)(args[1]);
+  *res = (type == T_FLOAT ? NUM2DBL(obj) : (type == T_FIXNUM ? (double) FIX2INT(obj) : rb_big2dbl(obj)));
+  return obj;
+}
+/*@SWIG@*/
+
+SWIGINTERN int
+SWIG_AsVal_double (VALUE obj, double *val)
+{
+  VALUE type = TYPE(obj);
+  if ((type == T_FLOAT) || (type == T_FIXNUM) || (type == T_BIGNUM)) {
+    double v;
+    VALUE a[2];
+    a[0] = obj;
+    a[1] = (VALUE)(&v);
+    if (rb_rescue(RUBY_METHOD_FUNC(SWIG_AUX_NUM2DBL), (VALUE)a, RUBY_METHOD_FUNC(SWIG_ruby_failed), 0) != Qnil) {
+      if (val) *val = v;
+      return SWIG_OK;
+    }
+  }
+  return SWIG_TypeError;
+}
+
+SWIGINTERN VALUE
+DEBUG_get(VALUE self) {
+  VALUE _val;
+  
+  _val = SWIG_From_int(static_cast< int >(DEBUG));
+  return _val;
+}
+
+
+SWIGINTERN VALUE
+DEBUG_set(VALUE self, VALUE _val) {
+  {
+    int val;
+    int res = SWIG_AsVal_int(_val, &val);
+    if (!SWIG_IsOK(res)) {
+      SWIG_exception_fail(SWIG_ArgError(res), "in variable '""DEBUG""' of type '""int""'");
+    }
+    DEBUG = static_cast< int >(val);
+  }
+  return _val;
+fail:
+  return Qnil;
+}
+
+
+swig_class cMap;
+
+SWIGINTERN VALUE
+_wrap_Map_width_set(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "width" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "width" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  if (arg1) (arg1)->width = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_width_get(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "width" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  result = (int) ((arg1)->width);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_height_set(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "height" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "height" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  if (arg1) (arg1)->height = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_height_get(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "height" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  result = (int) ((arg1)->height);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_map_set(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int *arg2 = (int *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "map" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2,SWIGTYPE_p_int, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "map" "', argument " "2"" of type '" "int *""'"); 
+  }
+  arg2 = reinterpret_cast< int * >(argp2);
+  if (arg1) (arg1)->map = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_map_get(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "map" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  result = (int *) ((arg1)->map);
+  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int, 0 |  0 );
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_new_Map__SWIG_0(int argc, VALUE *argv, VALUE self) {
+  int arg1 ;
+  int arg2 ;
+  Map *result = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Map" "', argument " "1"" of type '" "int""'");
+  } 
+  arg1 = static_cast< int >(val1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Map" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  result = (Map *)new Map(arg1,arg2);DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_new_Map__SWIG_1(int argc, VALUE *argv, VALUE self) {
+  int arg1 ;
+  Map *result = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Map" "', argument " "1"" of type '" "int""'");
+  } 
+  arg1 = static_cast< int >(val1);
+  result = (Map *)new Map(arg1);DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+#ifdef HAVE_RB_DEFINE_ALLOC_FUNC
+SWIGINTERN VALUE
+_wrap_Map_allocate(VALUE self) {
+#else
+  SWIGINTERN VALUE
+  _wrap_Map_allocate(int argc, VALUE *argv, VALUE self) {
+#endif
+    
+    
+    VALUE vresult = SWIG_NewClassInstance(self, SWIGTYPE_p_Map);
+#ifndef HAVE_RB_DEFINE_ALLOC_FUNC
+    rb_obj_call_init(vresult, argc, argv);
+#endif
+    return vresult;
+  }
+  
+
+SWIGINTERN VALUE
+_wrap_new_Map__SWIG_2(int argc, VALUE *argv, VALUE self) {
+  Map *result = 0 ;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  result = (Map *)new Map();DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE _wrap_new_Map(int nargs, VALUE *args, VALUE self) {
+  int argc;
+  VALUE argv[2];
+  int ii;
+  
+  argc = nargs;
+  if (argc > 2) SWIG_fail;
+  for (ii = 0; (ii < argc); ii++) {
+    argv[ii] = args[ii];
+  }
+  if (argc == 0) {
+    return _wrap_new_Map__SWIG_2(nargs, args, self);
+  }
+  if (argc == 1) {
+    int _v;
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      return _wrap_new_Map__SWIG_1(nargs, args, self);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_new_Map__SWIG_0(nargs, args, self);
+      }
+    }
+  }
+  
+fail:
+  rb_raise(rb_eArgError, "No matching function for overloaded 'new_Map'");
+  return Qnil;
+}
+
+
+SWIGINTERN void
+free_Map(Map *arg1) {
+    delete arg1;
+}
+
+SWIGINTERN VALUE
+_wrap_Map_getCost(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int arg2 ;
+  int arg3 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "getCost" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "getCost" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  ecode3 = SWIG_AsVal_int(argv[1], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "getCost" "', argument " "3"" of type '" "int""'");
+  } 
+  arg3 = static_cast< int >(val3);
+  result = (int)(arg1)->getCost(arg2,arg3);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_Map_setCost(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int arg2 ;
+  int arg3 ;
+  int arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  
+  if ((argc < 3) || (argc > 3)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 3)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "setCost" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "setCost" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  ecode3 = SWIG_AsVal_int(argv[1], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "setCost" "', argument " "3"" of type '" "int""'");
+  } 
+  arg3 = static_cast< int >(val3);
+  ecode4 = SWIG_AsVal_int(argv[2], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "setCost" "', argument " "4"" of type '" "int""'");
+  } 
+  arg4 = static_cast< int >(val4);
+  (arg1)->setCost(arg2,arg3,arg4);
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+MAP_get(VALUE self) {
+  VALUE _val;
+  
+  _val = SWIG_NewPointerObj(SWIG_as_voidptr(MAP), SWIGTYPE_p_Map,  0 );
+  return _val;
+}
+
+
+SWIGINTERN VALUE
+MAP_set(VALUE self, VALUE _val) {
+  {
+    void *argp = 0;
+    int res = SWIG_ConvertPtr(_val, &argp, SWIGTYPE_p_Map,  0 );  
+    if (!SWIG_IsOK(res)) {
+      SWIG_exception_fail(SWIG_ArgError(res), "in variable '""MAP""' of type '""Map *""'");
+    }
+    MAP = reinterpret_cast< Map * >(argp);
+  }
+  return _val;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+NUMBER_OF_NEIGHBORS_get(VALUE self) {
+  VALUE _val;
+  
+  _val = SWIG_From_int(static_cast< int >(NUMBER_OF_NEIGHBORS));
+  return _val;
+}
+
+
+SWIGINTERN VALUE
+NUMBER_OF_NEIGHBORS_set(VALUE self, VALUE _val) {
+  {
+    int val;
+    int res = SWIG_AsVal_int(_val, &val);
+    if (!SWIG_IsOK(res)) {
+      SWIG_exception_fail(SWIG_ArgError(res), "in variable '""NUMBER_OF_NEIGHBORS""' of type '""int""'");
+    }
+    NUMBER_OF_NEIGHBORS = static_cast< int >(val);
+  }
+  return _val;
+fail:
+  return Qnil;
+}
+
+
+swig_class cMapSearchNode;
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_x_set(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  unsigned int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  unsigned int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "x" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  ecode2 = SWIG_AsVal_unsigned_SS_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "x" "', argument " "2"" of type '" "unsigned int""'");
+  } 
+  arg2 = static_cast< unsigned int >(val2);
+  if (arg1) (arg1)->x = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_x_get(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  unsigned int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "x" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  result = (unsigned int) ((arg1)->x);
+  vresult = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_y_set(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  unsigned int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  unsigned int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "y" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  ecode2 = SWIG_AsVal_unsigned_SS_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "y" "', argument " "2"" of type '" "unsigned int""'");
+  } 
+  arg2 = static_cast< unsigned int >(val2);
+  if (arg1) (arg1)->y = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_y_get(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  unsigned int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "y" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  result = (unsigned int) ((arg1)->y);
+  vresult = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_new_MapSearchNode__SWIG_0(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *result = 0 ;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  result = (MapSearchNode *)new MapSearchNode();DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+#ifdef HAVE_RB_DEFINE_ALLOC_FUNC
+SWIGINTERN VALUE
+_wrap_MapSearchNode_allocate(VALUE self) {
+#else
+  SWIGINTERN VALUE
+  _wrap_MapSearchNode_allocate(int argc, VALUE *argv, VALUE self) {
+#endif
+    
+    
+    VALUE vresult = SWIG_NewClassInstance(self, SWIGTYPE_p_MapSearchNode);
+#ifndef HAVE_RB_DEFINE_ALLOC_FUNC
+    rb_obj_call_init(vresult, argc, argv);
+#endif
+    return vresult;
+  }
+  
+
+SWIGINTERN VALUE
+_wrap_new_MapSearchNode__SWIG_1(int argc, VALUE *argv, VALUE self) {
+  unsigned int arg1 ;
+  unsigned int arg2 ;
+  MapSearchNode *result = 0 ;
+  unsigned int val1 ;
+  int ecode1 = 0 ;
+  unsigned int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_unsigned_SS_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "MapSearchNode" "', argument " "1"" of type '" "unsigned int""'");
+  } 
+  arg1 = static_cast< unsigned int >(val1);
+  ecode2 = SWIG_AsVal_unsigned_SS_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "MapSearchNode" "', argument " "2"" of type '" "unsigned int""'");
+  } 
+  arg2 = static_cast< unsigned int >(val2);
+  result = (MapSearchNode *)new MapSearchNode(arg1,arg2);DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE _wrap_new_MapSearchNode(int nargs, VALUE *args, VALUE self) {
+  int argc;
+  VALUE argv[2];
+  int ii;
+  
+  argc = nargs;
+  if (argc > 2) SWIG_fail;
+  for (ii = 0; (ii < argc); ii++) {
+    argv[ii] = args[ii];
+  }
+  if (argc == 0) {
+    return _wrap_new_MapSearchNode__SWIG_0(nargs, args, self);
+  }
+  if (argc == 2) {
+    int _v;
+    {
+      int res = SWIG_AsVal_unsigned_SS_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      {
+        int res = SWIG_AsVal_unsigned_SS_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_new_MapSearchNode__SWIG_1(nargs, args, self);
+      }
+    }
+  }
+  
+fail:
+  rb_raise(rb_eArgError, "No matching function for overloaded 'new_MapSearchNode'");
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_GoalDistanceEstimate(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  MapSearchNode *arg2 = 0 ;
+  float result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "GoalDistanceEstimate" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2, SWIGTYPE_p_MapSearchNode,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "GoalDistanceEstimate" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "GoalDistanceEstimate" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  result = (float)(arg1)->GoalDistanceEstimate(*arg2);
+  vresult = SWIG_From_float(static_cast< float >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_IsGoal(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  MapSearchNode *arg2 = 0 ;
+  bool result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IsGoal" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2, SWIGTYPE_p_MapSearchNode,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IsGoal" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IsGoal" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  result = (bool)(arg1)->IsGoal(*arg2);
+  vresult = SWIG_From_bool(static_cast< bool >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_GetSuccessors(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  AStarSearch<MapSearchNode > *arg2 = (AStarSearch<MapSearchNode > *) 0 ;
+  MapSearchNode *arg3 = (MapSearchNode *) 0 ;
+  bool result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "GetSuccessors" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2,SWIGTYPE_p_AStarSearchTMapSearchNode_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "GetSuccessors" "', argument " "2"" of type '" "AStarSearch<MapSearchNode > *""'"); 
+  }
+  arg2 = reinterpret_cast< AStarSearch<MapSearchNode > * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[1], &argp3,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "GetSuccessors" "', argument " "3"" of type '" "MapSearchNode *""'"); 
+  }
+  arg3 = reinterpret_cast< MapSearchNode * >(argp3);
+  result = (bool)(arg1)->GetSuccessors(arg2,arg3);
+  vresult = SWIG_From_bool(static_cast< bool >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_GetCost(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  MapSearchNode *arg2 = 0 ;
+  float result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "GetCost" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2, SWIGTYPE_p_MapSearchNode,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "GetCost" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "GetCost" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  result = (float)(arg1)->GetCost(*arg2);
+  vresult = SWIG_From_float(static_cast< float >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_IsSameState(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  MapSearchNode *arg2 = 0 ;
+  bool result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IsSameState" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2, SWIGTYPE_p_MapSearchNode,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IsSameState" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IsSameState" "', argument " "2"" of type '" "MapSearchNode &""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  result = (bool)(arg1)->IsSameState(*arg2);
+  vresult = SWIG_From_bool(static_cast< bool >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_MapSearchNode_PrintNodeInfo(int argc, VALUE *argv, VALUE self) {
+  MapSearchNode *arg1 = (MapSearchNode *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "PrintNodeInfo" "', argument " "1"" of type '" "MapSearchNode *""'"); 
+  }
+  arg1 = reinterpret_cast< MapSearchNode * >(argp1);
+  (arg1)->PrintNodeInfo();
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN void
+free_MapSearchNode(MapSearchNode *arg1) {
+    delete arg1;
+}
+
+swig_class cHeyesDriver;
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_nodeStart_set(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  MapSearchNode *arg2 = (MapSearchNode *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "nodeStart" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "nodeStart" "', argument " "2"" of type '" "MapSearchNode *""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  if (arg1) (arg1)->nodeStart = *arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_nodeStart_get(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  MapSearchNode *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "nodeStart" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  result = (MapSearchNode *)& ((arg1)->nodeStart);
+  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_nodeEnd_set(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  MapSearchNode *arg2 = (MapSearchNode *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "nodeEnd" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[0], &argp2,SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "nodeEnd" "', argument " "2"" of type '" "MapSearchNode *""'"); 
+  }
+  arg2 = reinterpret_cast< MapSearchNode * >(argp2);
+  if (arg1) (arg1)->nodeEnd = *arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_nodeEnd_get(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  MapSearchNode *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "nodeEnd" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  result = (MapSearchNode *)& ((arg1)->nodeEnd);
+  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_MapSearchNode, 0 |  0 );
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_timeElapsed_set(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  double arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "timeElapsed" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "timeElapsed" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->timeElapsed = arg2;
+  
+  return Qnil;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_timeElapsed_get(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  double result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "timeElapsed" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  result = (double) ((arg1)->timeElapsed);
+  vresult = SWIG_From_double(static_cast< double >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_new_HeyesDriver__SWIG_0(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  int arg2 ;
+  HeyesDriver *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "HeyesDriver" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "HeyesDriver" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  result = (HeyesDriver *)new HeyesDriver(arg1,arg2);DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+#ifdef HAVE_RB_DEFINE_ALLOC_FUNC
+SWIGINTERN VALUE
+_wrap_HeyesDriver_allocate(VALUE self) {
+#else
+  SWIGINTERN VALUE
+  _wrap_HeyesDriver_allocate(int argc, VALUE *argv, VALUE self) {
+#endif
+    
+    
+    VALUE vresult = SWIG_NewClassInstance(self, SWIGTYPE_p_HeyesDriver);
+#ifndef HAVE_RB_DEFINE_ALLOC_FUNC
+    rb_obj_call_init(vresult, argc, argv);
+#endif
+    return vresult;
+  }
+  
+
+SWIGINTERN VALUE
+_wrap_new_HeyesDriver__SWIG_1(int argc, VALUE *argv, VALUE self) {
+  Map *arg1 = (Map *) 0 ;
+  HeyesDriver *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_Map, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "HeyesDriver" "', argument " "1"" of type '" "Map *""'"); 
+  }
+  arg1 = reinterpret_cast< Map * >(argp1);
+  result = (HeyesDriver *)new HeyesDriver(arg1);DATA_PTR(self) = result;
+  
+  return self;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE _wrap_new_HeyesDriver(int nargs, VALUE *args, VALUE self) {
+  int argc;
+  VALUE argv[2];
+  int ii;
+  
+  argc = nargs;
+  if (argc > 2) SWIG_fail;
+  for (ii = 0; (ii < argc); ii++) {
+    argv[ii] = args[ii];
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_Map, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_HeyesDriver__SWIG_1(nargs, args, self);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_Map, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_new_HeyesDriver__SWIG_0(nargs, args, self);
+      }
+    }
+  }
+  
+fail:
+  rb_raise(rb_eArgError, "No matching function for overloaded 'new_HeyesDriver'");
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_run__SWIG_0(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  int arg2 ;
+  int arg3 ;
+  int arg4 ;
+  int arg5 ;
+  int arg6 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  int val6 ;
+  int ecode6 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 5) || (argc > 5)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 5)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "run" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "run" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  ecode3 = SWIG_AsVal_int(argv[1], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "run" "', argument " "3"" of type '" "int""'");
+  } 
+  arg3 = static_cast< int >(val3);
+  ecode4 = SWIG_AsVal_int(argv[2], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "run" "', argument " "4"" of type '" "int""'");
+  } 
+  arg4 = static_cast< int >(val4);
+  ecode5 = SWIG_AsVal_int(argv[3], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "run" "', argument " "5"" of type '" "int""'");
+  } 
+  arg5 = static_cast< int >(val5);
+  ecode6 = SWIG_AsVal_int(argv[4], &val6);
+  if (!SWIG_IsOK(ecode6)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode6), "in method '" "run" "', argument " "6"" of type '" "int""'");
+  } 
+  arg6 = static_cast< int >(val6);
+  result = (int)(arg1)->run(arg2,arg3,arg4,arg5,arg6);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_run__SWIG_1(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  int arg2 ;
+  int arg3 ;
+  int arg4 ;
+  int arg5 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 4) || (argc > 4)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 4)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "run" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "run" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  ecode3 = SWIG_AsVal_int(argv[1], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "run" "', argument " "3"" of type '" "int""'");
+  } 
+  arg3 = static_cast< int >(val3);
+  ecode4 = SWIG_AsVal_int(argv[2], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "run" "', argument " "4"" of type '" "int""'");
+  } 
+  arg4 = static_cast< int >(val4);
+  ecode5 = SWIG_AsVal_int(argv[3], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "run" "', argument " "5"" of type '" "int""'");
+  } 
+  arg5 = static_cast< int >(val5);
+  result = (int)(arg1)->run(arg2,arg3,arg4,arg5);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE _wrap_HeyesDriver_run(int nargs, VALUE *args, VALUE self) {
+  int argc;
+  VALUE argv[7];
+  int ii;
+  
+  argc = nargs + 1;
+  argv[0] = self;
+  if (argc > 7) SWIG_fail;
+  for (ii = 1; (ii < argc); ii++) {
+    argv[ii] = args[ii-1];
+  }
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_HeyesDriver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              return _wrap_HeyesDriver_run__SWIG_1(nargs, args, self);
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_HeyesDriver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              {
+                int res = SWIG_AsVal_int(argv[5], NULL);
+                _v = SWIG_CheckState(res);
+              }
+              if (_v) {
+                return _wrap_HeyesDriver_run__SWIG_0(nargs, args, self);
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  
+fail:
+  rb_raise(rb_eArgError, "No matching function for overloaded 'HeyesDriver_run'");
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_getMap(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  Map *result = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "getMap" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  result = (Map *)(arg1)->getMap();
+  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Map, 0 |  0 );
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_getPathLength(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "getPathLength" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  result = (int)(arg1)->getPathLength();
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_getPathYAtIndex(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  int arg2 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "getPathYAtIndex" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "getPathYAtIndex" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  result = (int)(arg1)->getPathYAtIndex(arg2);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_getPathXAtIndex(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  int arg2 ;
+  int result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "getPathXAtIndex" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[0], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "getPathXAtIndex" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  result = (int)(arg1)->getPathXAtIndex(arg2);
+  vresult = SWIG_From_int(static_cast< int >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN VALUE
+_wrap_HeyesDriver_diffclock(int argc, VALUE *argv, VALUE self) {
+  HeyesDriver *arg1 = (HeyesDriver *) 0 ;
+  clock_t arg2 ;
+  clock_t arg3 ;
+  double result;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 2) || (argc > 2)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 2)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_HeyesDriver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "diffclock" "', argument " "1"" of type '" "HeyesDriver *""'"); 
+  }
+  arg1 = reinterpret_cast< HeyesDriver * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[0], &argp2, SWIGTYPE_p_clock_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "diffclock" "', argument " "2"" of type '" "clock_t""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "diffclock" "', argument " "2"" of type '" "clock_t""'");
+    } else {
+      arg2 = *(reinterpret_cast< clock_t * >(argp2));
+    }
+  }
+  {
+    res3 = SWIG_ConvertPtr(argv[1], &argp3, SWIGTYPE_p_clock_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "diffclock" "', argument " "3"" of type '" "clock_t""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "diffclock" "', argument " "3"" of type '" "clock_t""'");
+    } else {
+      arg3 = *(reinterpret_cast< clock_t * >(argp3));
+    }
+  }
+  result = (double)(arg1)->diffclock(arg2,arg3);
+  vresult = SWIG_From_double(static_cast< double >(result));
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+SWIGINTERN void
+free_HeyesDriver(HeyesDriver *arg1) {
+    delete arg1;
+}
+
+
+/* -------- TYPE CONVERSION AND EQUIVALENCE RULES (BEGIN) -------- */
+
+static swig_type_info _swigt__p_AStarSearchTMapSearchNode_t = {"_p_AStarSearchTMapSearchNode_t", "AStarSearch<MapSearchNode > *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_HeyesDriver = {"_p_HeyesDriver", "HeyesDriver *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_Map = {"_p_Map", "Map *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_MapSearchNode = {"_p_MapSearchNode", "MapSearchNode *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_char = {"_p_char", "char *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_clock_t = {"_p_clock_t", "clock_t *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_int = {"_p_int", "int *", 0, 0, (void*)0, 0};
+
+static swig_type_info *swig_type_initial[] = {
+  &_swigt__p_AStarSearchTMapSearchNode_t,
+  &_swigt__p_HeyesDriver,
+  &_swigt__p_Map,
+  &_swigt__p_MapSearchNode,
+  &_swigt__p_char,
+  &_swigt__p_clock_t,
+  &_swigt__p_int,
+};
+
+static swig_cast_info _swigc__p_AStarSearchTMapSearchNode_t[] = {  {&_swigt__p_AStarSearchTMapSearchNode_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_HeyesDriver[] = {  {&_swigt__p_HeyesDriver, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_Map[] = {  {&_swigt__p_Map, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_MapSearchNode[] = {  {&_swigt__p_MapSearchNode, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_char[] = {  {&_swigt__p_char, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_clock_t[] = {  {&_swigt__p_clock_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_int[] = {  {&_swigt__p_int, 0, 0, 0},{0, 0, 0, 0}};
+
+static swig_cast_info *swig_cast_initial[] = {
+  _swigc__p_AStarSearchTMapSearchNode_t,
+  _swigc__p_HeyesDriver,
+  _swigc__p_Map,
+  _swigc__p_MapSearchNode,
+  _swigc__p_char,
+  _swigc__p_clock_t,
+  _swigc__p_int,
+};
+
+
+/* -------- TYPE CONVERSION AND EQUIVALENCE RULES (END) -------- */
+
+/* -----------------------------------------------------------------------------
+ * Type initialization:
+ * This problem is tough by the requirement that no dynamic 
+ * memory is used. Also, since swig_type_info structures store pointers to 
+ * swig_cast_info structures and swig_cast_info structures store pointers back
+ * to swig_type_info structures, we need some lookup code at initialization. 
+ * The idea is that swig generates all the structures that are needed. 
+ * The runtime then collects these partially filled structures. 
+ * The SWIG_InitializeModule function takes these initial arrays out of 
+ * swig_module, and does all the lookup, filling in the swig_module.types
+ * array with the correct data and linking the correct swig_cast_info
+ * structures together.
+ *
+ * The generated swig_type_info structures are assigned staticly to an initial 
+ * array. We just loop through that array, and handle each type individually.
+ * First we lookup if this type has been already loaded, and if so, use the
+ * loaded structure instead of the generated one. Then we have to fill in the
+ * cast linked list. The cast data is initially stored in something like a
+ * two-dimensional array. Each row corresponds to a type (there are the same
+ * number of rows as there are in the swig_type_initial array). Each entry in
+ * a column is one of the swig_cast_info structures for that type.
+ * The cast_initial array is actually an array of arrays, because each row has
+ * a variable number of columns. So to actually build the cast linked list,
+ * we find the array of casts associated with the type, and loop through it 
+ * adding the casts to the list. The one last trick we need to do is making
+ * sure the type pointer in the swig_cast_info struct is correct.
+ *
+ * First off, we lookup the cast->type name to see if it is already loaded. 
+ * There are three cases to handle:
+ *  1) If the cast->type has already been loaded AND the type we are adding
+ *     casting info to has not been loaded (it is in this module), THEN we
+ *     replace the cast->type pointer with the type pointer that has already
+ *     been loaded.
+ *  2) If BOTH types (the one we are adding casting info to, and the 
+ *     cast->type) are loaded, THEN the cast info has already been loaded by
+ *     the previous module so we just ignore it.
+ *  3) Finally, if cast->type has not already been loaded, then we add that
+ *     swig_cast_info to the linked list (because the cast->type) pointer will
+ *     be correct.
+ * ----------------------------------------------------------------------------- */
+
+#ifdef __cplusplus
+extern "C" {
+#if 0
+} /* c-mode */
+#endif
+#endif
+
+#if 0
+#define SWIGRUNTIME_DEBUG
+#endif
+
+
+SWIGRUNTIME void
+SWIG_InitializeModule(void *clientdata) {
+  size_t i;
+  swig_module_info *module_head, *iter;
+  int found;
+
+  clientdata = clientdata;
+
+  /* check to see if the circular list has been setup, if not, set it up */
+  if (swig_module.next==0) {
+    /* Initialize the swig_module */
+    swig_module.type_initial = swig_type_initial;
+    swig_module.cast_initial = swig_cast_initial;
+    swig_module.next = &swig_module;
+  }
+
+  /* Try and load any already created modules */
+  module_head = SWIG_GetModule(clientdata);
+  if (!module_head) {
+    /* This is the first module loaded for this interpreter */
+    /* so set the swig module into the interpreter */
+    SWIG_SetModule(clientdata, &swig_module);
+    module_head = &swig_module;
+  } else {
+    /* the interpreter has loaded a SWIG module, but has it loaded this one? */
+    found=0;
+    iter=module_head;
+    do {
+      if (iter==&swig_module) {
+        found=1;
+        break;
+      }
+      iter=iter->next;
+    } while (iter!= module_head);
+
+    /* if the is found in the list, then all is done and we may leave */
+    if (found) return;
+    /* otherwise we must add out module into the list */
+    swig_module.next = module_head->next;
+    module_head->next = &swig_module;
+  }
+
+  /* Now work on filling in swig_module.types */
+#ifdef SWIGRUNTIME_DEBUG
+  printf("SWIG_InitializeModule: size %d\n", swig_module.size);
+#endif
+  for (i = 0; i < swig_module.size; ++i) {
+    swig_type_info *type = 0;
+    swig_type_info *ret;
+    swig_cast_info *cast;
+  
+#ifdef SWIGRUNTIME_DEBUG
+    printf("SWIG_InitializeModule: type %d %s\n", i, swig_module.type_initial[i]->name);
+#endif
+
+    /* if there is another module already loaded */
+    if (swig_module.next != &swig_module) {
+      type = SWIG_MangledTypeQueryModule(swig_module.next, &swig_module, swig_module.type_initial[i]->name);
+    }
+    if (type) {
+      /* Overwrite clientdata field */
+#ifdef SWIGRUNTIME_DEBUG
+      printf("SWIG_InitializeModule: found type %s\n", type->name);
+#endif
+      if (swig_module.type_initial[i]->clientdata) {
+	type->clientdata = swig_module.type_initial[i]->clientdata;
+#ifdef SWIGRUNTIME_DEBUG
+      printf("SWIG_InitializeModule: found and overwrite type %s \n", type->name);
+#endif
+      }
+    } else {
+      type = swig_module.type_initial[i];
+    }
+
+    /* Insert casting types */
+    cast = swig_module.cast_initial[i];
+    while (cast->type) {
+    
+      /* Don't need to add information already in the list */
+      ret = 0;
+#ifdef SWIGRUNTIME_DEBUG
+      printf("SWIG_InitializeModule: look cast %s\n", cast->type->name);
+#endif
+      if (swig_module.next != &swig_module) {
+        ret = SWIG_MangledTypeQueryModule(swig_module.next, &swig_module, cast->type->name);
+#ifdef SWIGRUNTIME_DEBUG
+	if (ret) printf("SWIG_InitializeModule: found cast %s\n", ret->name);
+#endif
+      }
+      if (ret) {
+	if (type == swig_module.type_initial[i]) {
+#ifdef SWIGRUNTIME_DEBUG
+	  printf("SWIG_InitializeModule: skip old type %s\n", ret->name);
+#endif
+	  cast->type = ret;
+	  ret = 0;
+	} else {
+	  /* Check for casting already in the list */
+	  swig_cast_info *ocast = SWIG_TypeCheck(ret->name, type);
+#ifdef SWIGRUNTIME_DEBUG
+	  if (ocast) printf("SWIG_InitializeModule: skip old cast %s\n", ret->name);
+#endif
+	  if (!ocast) ret = 0;
+	}
+      }
+
+      if (!ret) {
+#ifdef SWIGRUNTIME_DEBUG
+	printf("SWIG_InitializeModule: adding cast %s\n", cast->type->name);
+#endif
+        if (type->cast) {
+          type->cast->prev = cast;
+          cast->next = type->cast;
+        }
+        type->cast = cast;
+      }
+      cast++;
+    }
+    /* Set entry in modules->types array equal to the type */
+    swig_module.types[i] = type;
+  }
+  swig_module.types[i] = 0;
+
+#ifdef SWIGRUNTIME_DEBUG
+  printf("**** SWIG_InitializeModule: Cast List ******\n");
+  for (i = 0; i < swig_module.size; ++i) {
+    int j = 0;
+    swig_cast_info *cast = swig_module.cast_initial[i];
+    printf("SWIG_InitializeModule: type %d %s\n", i, swig_module.type_initial[i]->name);
+    while (cast->type) {
+      printf("SWIG_InitializeModule: cast type %s\n", cast->type->name);
+      cast++;
+      ++j;
+    }
+  printf("---- Total casts: %d\n",j);
+  }
+  printf("**** SWIG_InitializeModule: Cast List ******\n");
+#endif
+}
+
+/* This function will propagate the clientdata field of type to
+* any new swig_type_info structures that have been added into the list
+* of equivalent types.  It is like calling
+* SWIG_TypeClientData(type, clientdata) a second time.
+*/
+SWIGRUNTIME void
+SWIG_PropagateClientData(void) {
+  size_t i;
+  swig_cast_info *equiv;
+  static int init_run = 0;
+
+  if (init_run) return;
+  init_run = 1;
+
+  for (i = 0; i < swig_module.size; i++) {
+    if (swig_module.types[i]->clientdata) {
+      equiv = swig_module.types[i]->cast;
+      while (equiv) {
+        if (!equiv->converter) {
+          if (equiv->type && !equiv->type->clientdata)
+            SWIG_TypeClientData(equiv->type, swig_module.types[i]->clientdata);
+        }
+        equiv = equiv->next;
+      }
+    }
+  }
+}
+
+#ifdef __cplusplus
+#if 0
+{ /* c-mode */
+#endif
+}
+#endif
+
+
+#ifdef __cplusplus
+extern "C"
+#endif
+SWIGEXPORT void Init_heyes(void) {
+  size_t i;
+  
+  SWIG_InitRuntime();
+  mHeyes = rb_define_module("Heyes");
+  
+  SWIG_InitializeModule(0);
+  for (i = 0; i < swig_module.size; i++) {
+    SWIG_define_class(swig_module.types[i]);
+  }
+  
+  SWIG_RubyInitializeTrackings();
+  rb_define_const(mHeyes, "USE_FSA_MEMORY", SWIG_From_int(static_cast< int >(1)));
+  rb_define_const(mHeyes, "DEBUG_LISTS", SWIG_From_int(static_cast< int >(0)));
+  rb_define_const(mHeyes, "DEBUG_LIST_LENGTHS_ONLY", SWIG_From_int(static_cast< int >(0)));
+  rb_define_singleton_method(mHeyes, "DEBUG", VALUEFUNC(DEBUG_get), 0);
+  rb_define_singleton_method(mHeyes, "DEBUG=", VALUEFUNC(DEBUG_set), 1);
+  
+  cMap.klass = rb_define_class_under(mHeyes, "Map", rb_cObject);
+  SWIG_TypeClientData(SWIGTYPE_p_Map, (void *) &cMap);
+  rb_define_alloc_func(cMap.klass, _wrap_Map_allocate);
+  rb_define_method(cMap.klass, "initialize", VALUEFUNC(_wrap_new_Map), -1);
+  rb_define_const(cMap.klass, "MAP_OUT_OF_BOUNDS", SWIG_From_int(static_cast< int >(Map::MAP_OUT_OF_BOUNDS)));
+  rb_define_const(cMap.klass, "MAP_NO_WALK", SWIG_From_int(static_cast< int >(Map::MAP_NO_WALK)));
+  rb_define_method(cMap.klass, "width=", VALUEFUNC(_wrap_Map_width_set), -1);
+  rb_define_method(cMap.klass, "width", VALUEFUNC(_wrap_Map_width_get), -1);
+  rb_define_method(cMap.klass, "height=", VALUEFUNC(_wrap_Map_height_set), -1);
+  rb_define_method(cMap.klass, "height", VALUEFUNC(_wrap_Map_height_get), -1);
+  rb_define_method(cMap.klass, "map=", VALUEFUNC(_wrap_Map_map_set), -1);
+  rb_define_method(cMap.klass, "map", VALUEFUNC(_wrap_Map_map_get), -1);
+  rb_define_method(cMap.klass, "getCost", VALUEFUNC(_wrap_Map_getCost), -1);
+  rb_define_method(cMap.klass, "setCost", VALUEFUNC(_wrap_Map_setCost), -1);
+  cMap.mark = 0;
+  cMap.destroy = (void (*)(void *)) free_Map;
+  cMap.trackObjects = 0;
+  rb_define_singleton_method(mHeyes, "MAP", VALUEFUNC(MAP_get), 0);
+  rb_define_singleton_method(mHeyes, "MAP=", VALUEFUNC(MAP_set), 1);
+  rb_define_singleton_method(mHeyes, "NUMBER_OF_NEIGHBORS", VALUEFUNC(NUMBER_OF_NEIGHBORS_get), 0);
+  rb_define_singleton_method(mHeyes, "NUMBER_OF_NEIGHBORS=", VALUEFUNC(NUMBER_OF_NEIGHBORS_set), 1);
+  
+  cMapSearchNode.klass = rb_define_class_under(mHeyes, "MapSearchNode", rb_cObject);
+  SWIG_TypeClientData(SWIGTYPE_p_MapSearchNode, (void *) &cMapSearchNode);
+  rb_define_alloc_func(cMapSearchNode.klass, _wrap_MapSearchNode_allocate);
+  rb_define_method(cMapSearchNode.klass, "initialize", VALUEFUNC(_wrap_new_MapSearchNode), -1);
+  rb_define_method(cMapSearchNode.klass, "x=", VALUEFUNC(_wrap_MapSearchNode_x_set), -1);
+  rb_define_method(cMapSearchNode.klass, "x", VALUEFUNC(_wrap_MapSearchNode_x_get), -1);
+  rb_define_method(cMapSearchNode.klass, "y=", VALUEFUNC(_wrap_MapSearchNode_y_set), -1);
+  rb_define_method(cMapSearchNode.klass, "y", VALUEFUNC(_wrap_MapSearchNode_y_get), -1);
+  rb_define_method(cMapSearchNode.klass, "GoalDistanceEstimate", VALUEFUNC(_wrap_MapSearchNode_GoalDistanceEstimate), -1);
+  rb_define_method(cMapSearchNode.klass, "IsGoal", VALUEFUNC(_wrap_MapSearchNode_IsGoal), -1);
+  rb_define_method(cMapSearchNode.klass, "GetSuccessors", VALUEFUNC(_wrap_MapSearchNode_GetSuccessors), -1);
+  rb_define_method(cMapSearchNode.klass, "GetCost", VALUEFUNC(_wrap_MapSearchNode_GetCost), -1);
+  rb_define_method(cMapSearchNode.klass, "IsSameState", VALUEFUNC(_wrap_MapSearchNode_IsSameState), -1);
+  rb_define_method(cMapSearchNode.klass, "PrintNodeInfo", VALUEFUNC(_wrap_MapSearchNode_PrintNodeInfo), -1);
+  cMapSearchNode.mark = 0;
+  cMapSearchNode.destroy = (void (*)(void *)) free_MapSearchNode;
+  cMapSearchNode.trackObjects = 0;
+  
+  cHeyesDriver.klass = rb_define_class_under(mHeyes, "HeyesDriver", rb_cObject);
+  SWIG_TypeClientData(SWIGTYPE_p_HeyesDriver, (void *) &cHeyesDriver);
+  rb_define_alloc_func(cHeyesDriver.klass, _wrap_HeyesDriver_allocate);
+  rb_define_method(cHeyesDriver.klass, "initialize", VALUEFUNC(_wrap_new_HeyesDriver), -1);
+  rb_define_const(cHeyesDriver.klass, "FOUR_NEIGHBORS", SWIG_From_int(static_cast< int >(HeyesDriver::FOUR_NEIGHBORS)));
+  rb_define_const(cHeyesDriver.klass, "EIGHT_NEIGHBORS", SWIG_From_int(static_cast< int >(HeyesDriver::EIGHT_NEIGHBORS)));
+  rb_define_method(cHeyesDriver.klass, "nodeStart=", VALUEFUNC(_wrap_HeyesDriver_nodeStart_set), -1);
+  rb_define_method(cHeyesDriver.klass, "nodeStart", VALUEFUNC(_wrap_HeyesDriver_nodeStart_get), -1);
+  rb_define_method(cHeyesDriver.klass, "nodeEnd=", VALUEFUNC(_wrap_HeyesDriver_nodeEnd_set), -1);
+  rb_define_method(cHeyesDriver.klass, "nodeEnd", VALUEFUNC(_wrap_HeyesDriver_nodeEnd_get), -1);
+  rb_define_method(cHeyesDriver.klass, "timeElapsed=", VALUEFUNC(_wrap_HeyesDriver_timeElapsed_set), -1);
+  rb_define_method(cHeyesDriver.klass, "timeElapsed", VALUEFUNC(_wrap_HeyesDriver_timeElapsed_get), -1);
+  rb_define_method(cHeyesDriver.klass, "run", VALUEFUNC(_wrap_HeyesDriver_run), -1);
+  rb_define_method(cHeyesDriver.klass, "getMap", VALUEFUNC(_wrap_HeyesDriver_getMap), -1);
+  rb_define_method(cHeyesDriver.klass, "getPathLength", VALUEFUNC(_wrap_HeyesDriver_getPathLength), -1);
+  rb_define_method(cHeyesDriver.klass, "getPathYAtIndex", VALUEFUNC(_wrap_HeyesDriver_getPathYAtIndex), -1);
+  rb_define_method(cHeyesDriver.klass, "getPathXAtIndex", VALUEFUNC(_wrap_HeyesDriver_getPathXAtIndex), -1);
+  rb_define_method(cHeyesDriver.klass, "diffclock", VALUEFUNC(_wrap_HeyesDriver_diffclock), -1);
+  cHeyesDriver.mark = 0;
+  cHeyesDriver.destroy = (void (*)(void *)) free_HeyesDriver;
+  cHeyesDriver.trackObjects = 0;
+}
+