Class PlannerDataStorage

Inheritance Relationships

Base Type

Class Documentation

class PlannerDataStorage : public ompl::base::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.

It is assumed that the edges in stored/loaded PlannerData can be cast to PlannerDataEdgeControl in this class. If this is not the case, see ompl::base::PlannerDataStorage.

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);

Public Functions

PlannerDataStorage() = default

Default constructor.

virtual ~PlannerDataStorage() override = default

Destructor.

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

Load the PlannerData structure from the given filename.

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

Deserializes the structure from the given stream.

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

Store (serialize) the structure to the given filename. The StateSpace and ControlSpace that was used to store the data must match those inside of the argument PlannerData.

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

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

Protected Functions

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

Read numEdges from the binary input ia and store them as PlannerData. It is assumed that the edges can be cast to ompl::control::PlannerDataEdgeControl.

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

Serialize and store all edges in pd to the binary archive. It is assumed that the edges can be cast to ompl::control::PlannerDataEdgeControl.