How to use the breathe.DoxygenParserFactory function in breathe

class ShellCommandDirective(Directive):
            required_arguments = 0
            optional_arguments = 0
            final_argument = False
            option_spec = {}
            has_content = True
            def run(self):
                self.assert_has_content()
                args = shlex.split(self.content[0].encode('ascii'))
                text = subprocess.Popen(args,stdout=subprocess.PIPE).communicate()[0]
                return [docutils.nodes.literal_block(text=text)]
        rst.directives.register_directive('shell-block', ShellCommandDirective)

        # doxygen links using breathe
        parser_factory = breathe.DoxygenParserFactory()
        matcher_factory = breathe.ItemMatcherFactory()
        item_finder_factory_creator = breathe.DoxygenItemFinderFactoryCreator(parser_factory, matcher_factory)
        index_parser = breathe.DoxygenIndexParser()
        finder_factory = breathe.FinderFactory(index_parser, item_finder_factory_creator)
        node_factory = breathe.NodeFactory(docutils.nodes,sphinx.addnodes)
        renderer_factory_creator = breathe.DoxygenToRstRendererFactoryCreator(node_factory, parser_factory)
        builder_factory = breathe.BuilderFactory(breathe.RstBuilder, renderer_factory_creator)
        project_info_factory = breathe.ProjectInfoFactory()
        directive_factory = breathe.DoxygenDirectiveFactory(builder_factory, finder_factory, matcher_factory, project_info_factory)
        project_info_factory.update({'openrave':os.path.join(languagecode, 'xml')},'openrave')
        rst.directives.register_directive("doxygenindex", directive_factory.create_index_directive_container())
        rst.directives.register_directive("doxygenfunction", directive_factory.create_function_directive_container())
        rst.directives.register_directive("doxygenstruct", directive_factory.create_struct_directive_container())
        rst.directives.register_directive("doxygenenum",directive_factory.create_enum_directive_container())
        rst.directives.register_directive("doxygentypedef",directive_factory.create_typedef_directive_container())
        rst.directives.register_directive("doxygenclass",directive_factory.create_class_directive_container())

enums_temp=re.findall('DOXY_ENUM\(\s*([\w:]*)\s*\)',rawcppdata)
        while len(enums_temp) > 0 and enums_temp[0] == 'name':
            enums_temp.pop(0) # remove the #define's
        enums += enums_temp
        classes_temp=re.findall('DOXY_CLASS\(\s*([\w:]*)\s*\)',rawcppdata)
        while len(classes_temp) > 0 and classes_temp[0] == 'name':
            classes_temp.pop(0) # remove the #define's
        classes += classes_temp

    xml2rst.setDefaultOptions()
    mainXsltF = open('xml2rst.xsl','r')
    projectname = 'openrave'
    defaultnamespace = 'OpenRAVE'

    # doxygen links using breathe
    parser_factory = breathe.DoxygenParserFactory()
    matcher_factory = breathe.ItemMatcherFactory()
    item_finder_factory_creator = breathe.DoxygenItemFinderFactoryCreator(parser_factory, matcher_factory)
    index_parser = breathe.DoxygenIndexParser()
    finder_factory = breathe.FinderFactory(index_parser, item_finder_factory_creator)
    node_factory = breathe.NodeFactory(docutils.nodes,sphinx.addnodes)
    renderer_factory_creator = breathe.DoxygenToRstRendererFactoryCreator(node_factory, parser_factory)
    project_info_factory = breathe.ProjectInfoFactory()
    builder_factory = breathe.BuilderFactory(breathe.RstBuilder, renderer_factory_creator)

    comments = ''
    for lang in options.languagecodes:
        project_info_factory.update({projectname:os.path.join('build',lang,'coreapixml')},projectname)
        project_info = project_info_factory.create_project_info({})
        finder = finder_factory.create_finder(project_info)

        # find the correct references