Class PlannerDataStorage

Nested Relationships

Nested Types

Inheritance Relationships

Derived Type

Class Documentation

class PlannerDataStorage

Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of vertices and edges is performed using the Boost archive method serialize. Derived vertex/edge classes are handled, presuming those classes implement the serialize method.

Remark

Since the serialize method for vertices and edges is templated, it cannot be virtual. To serialize a derived class AND the base class data, a special call can be invoked inside of serialize that instructs the serializer to also serialize the base class. The derived class must also have a GUID exposed to the serializer for proper deserialization at runtime. This is performed with the BOOST_CLASS_EXPORT macro. An example of these items is given below: 

#include <boost/serialization/export.hpp>

class MyVertexClass : public ompl::base::PlannerDataVertex
{
    // ---SNIP---

    template <class Archive>
    void serialize(Archive & ar, const unsigned int version)
    {
        ar & boost::serialization::base_object<ompl::base::PlannerDataVertex>(*this);
        // ... (The other members of MyVertexClass)
    }
};

BOOST_CLASS_EXPORT(MyVertexClass);

Subclassed by ompl::control::PlannerDataStorage

Public Functions

PlannerDataStorage()

Default constructor.

virtual ~PlannerDataStorage()

Destructor.

virtual bool store(const PlannerData &pd, const char *filename)

Store (serialize) the PlannerData structure to the given filename.

Returns:

True on success, false on failure.

virtual bool store(const PlannerData &pd, std::ostream &out)

Store (serialize) the PlannerData structure to the given stream.

Returns:

True on success, false on failure.

virtual bool load(const char *filename, PlannerData &pd)

Load the PlannerData structure from the given stream. The StateSpace that was used to store the data must match the StateSpace inside of the argument PlannerData.

Returns:

True on success, false on failure.

virtual bool load(std::istream &in, PlannerData &pd)

Load the PlannerData structure from the given stream. The StateSpace that was used to store the data must match the StateSpace inside of the argument PlannerData.

Returns:

True on success, false on failure.

Protected Functions

inline virtual void loadVertices(PlannerData &pd, unsigned int numVertices, boost::archive::binary_iarchive &ia)

Read numVertices from the binary input ia and store them as PlannerData.

inline virtual void storeVertices(const PlannerData &pd, boost::archive::binary_oarchive &oa)

Serialize and store all vertices in pd to the binary archive.

inline virtual void loadEdges(PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)

Read numEdges from the binary input ia and store them as PlannerData.

inline virtual void storeEdges(const PlannerData &pd, boost::archive::binary_oarchive &oa)

Serialize and store all edges in pd to the binary archive.

struct Header

Information stored at the beginning of the PlannerData archive.

Public Functions

template<typename Archive>
inline void serialize(Archive &ar, const unsigned int)

boost::serialization routine

Public Members

std::uint_fast32_t marker

OMPL PlannerData specific marker (fixed value)

std::size_t vertex_count

Number of vertices stored in the archive.

std::size_t edge_count

Number of edges stored in the archive.

std::vector<int> signature

Signature of state space that allocated the saved states in the vertices (see ompl::base::StateSpace::computeSignature()) */.

struct PlannerDataEdgeData

The object containing all edge data that will be stored.

Public Functions

template<typename Archive>
inline void serialize(Archive &ar, const unsigned int)

Public Members

const PlannerDataEdge *e_
std::pair<unsigned int, unsigned int> endpoints_
double weight_
struct PlannerDataVertexData

The object containing all vertex data that will be stored.

Public Types

enum VertexType

Values:

enumerator STANDARD
enumerator START
enumerator GOAL

Public Functions

template<typename Archive>
inline void serialize(Archive &ar, const unsigned int)

Public Members

const PlannerDataVertex *v_
std::vector<unsigned char> state_
VertexType type_