.. _program_listing_file__tmp_ws_src_slam_toolbox_include_slam_toolbox_serialization.hpp:

Program Listing for File serialization.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_slam_toolbox_include_slam_toolbox_serialization.hpp>` (``/tmp/ws/src/slam_toolbox/include/slam_toolbox/serialization.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Author
    * Copyright (c) 2018, Simbe Robotics, Inc.
    *
    * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
    * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
    * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
    * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
    *
    * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
    * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
    * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
    * CONDITIONS.
    *
    */
   
   /* Author: Steven Macenski */
   
   #ifndef SLAM_TOOLBOX__SERIALIZATION_HPP_
   #define SLAM_TOOLBOX__SERIALIZATION_HPP_
   
   #include <sys/stat.h>
   #include <vector>
   #include <string>
   #include "rclcpp/rclcpp.hpp"
   #include "karto_sdk/Mapper.h"
   
   namespace serialization
   {
   
   inline bool fileExists(const std::string & name)
   {
     struct stat buffer;
     return stat(name.c_str(), &buffer) == 0;
   }
   
   inline bool write(
     const std::string & filename,
     karto::Mapper & mapper,
     karto::Dataset & dataset,
     rclcpp::Node::SharedPtr node)
   {
     try {
       mapper.SaveToFile(filename + std::string(".posegraph"));
       dataset.SaveToFile(filename + std::string(".data"));
       return true;
     } catch (boost::archive::archive_exception e) {
       RCLCPP_ERROR(node->get_logger(),
         "Failed to write file: Exception %s", e.what());
       return false;
     }
   }
   
   inline bool read(
     const std::string & filename,
     karto::Mapper & mapper,
     karto::Dataset & dataset,
     rclcpp::Node::SharedPtr node)
   {
     if (!fileExists(filename + std::string(".posegraph"))) {
       RCLCPP_ERROR(node->get_logger(),
         "serialization::Read: Failed to open "
         "requested file: %s.", filename.c_str());
       return false;
     }
   
     try {
       mapper.LoadFromFile(filename + std::string(".posegraph"));
       dataset.LoadFromFile(filename + std::string(".data"));
       return true;
     } catch (boost::archive::archive_exception e) {
       RCLCPP_ERROR(node->get_logger(),
         "serialization::Read: Failed to read file: "
         "Exception: %s", e.what());
     }
   
     return false;
   }
   
   }  // namespace serialization
   
   #endif  // SLAM_TOOLBOX__SERIALIZATION_HPP_