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PlannerDataStorage.cpp
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34
35/* Author: Ryan Luna */
36
37#include "ompl/base/PlannerDataStorage.h"
38#include <boost/archive/archive_exception.hpp>
39
40static const std::uint_fast32_t OMPL_PLANNER_DATA_ARCHIVE_MARKER = 0x5044414D; // this spells PDAM
41
43
45
46void ompl::base::PlannerDataStorage::store(const PlannerData &pd, const char *filename)
47{
48 std::ofstream out(filename, std::ios::binary);
49 store(pd, out);
50 out.close();
51}
52
53void ompl::base::PlannerDataStorage::store(const PlannerData &pd, std::ostream &out)
54{
56 if (!out.good())
57 {
58 OMPL_ERROR("Failed to store PlannerData: output stream is invalid");
59 return;
60 }
61 if (!si)
62 {
63 OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid");
64 return;
65 }
66 try
67 {
68 boost::archive::binary_oarchive oa(out);
69
70 // Writing the header
71 Header h;
72 h.marker = OMPL_PLANNER_DATA_ARCHIVE_MARKER;
73 h.vertex_count = pd.numVertices();
74 h.edge_count = pd.numEdges();
75 si->getStateSpace()->computeSignature(h.signature);
76 oa << h;
77
78 storeVertices(pd, oa);
79 storeEdges(pd, oa);
80 }
81 catch (boost::archive::archive_exception &ae)
82 {
83 OMPL_ERROR("Failed to store PlannerData: %s", ae.what());
84 }
85}
86
88{
89 std::ifstream in(filename, std::ios::binary);
90 load(in, pd);
91 in.close();
92}
93
95{
96 pd.clear();
97
99 if (!in.good())
100 {
101 OMPL_ERROR("Failed to load PlannerData: input stream is invalid");
102 return;
103 }
104 if (!si)
105 {
106 OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid");
107 return;
108 }
109 // Loading the planner data:
110 try
111 {
112 boost::archive::binary_iarchive ia(in);
113
114 // Read the header
115 Header h;
116 ia >> h;
117
118 // Checking the archive marker
119 if (h.marker != OMPL_PLANNER_DATA_ARCHIVE_MARKER)
120 {
121 OMPL_ERROR("Failed to load PlannerData: PlannerData archive marker not found");
122 return;
123 }
124
125 // Verify that the state space is the same
126 std::vector<int> sig;
127 si->getStateSpace()->computeSignature(sig);
128 if (h.signature != sig)
129 {
130 OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch");
131 return;
132 }
133
134 // File seems ok... loading vertices and edges
135 loadVertices(pd, h.vertex_count, ia);
136 loadEdges(pd, h.edge_count, ia);
137 }
138 catch (boost::archive::archive_exception &ae)
139 {
140 OMPL_ERROR("Failed to load PlannerData: %s", ae.what());
141 }
142}
PlannerDataStorage()
Default constructor.
virtual ~PlannerDataStorage()
Destructor.
virtual void store(const PlannerData &pd, const char *filename)
Store (serialize) the PlannerData structure to the given filename.
virtual void load(const char *filename, PlannerData &pd)
Load the PlannerData structure from the given stream. The StateSpace that was used to store the data ...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
unsigned int numEdges() const
Retrieve the number of edges in this structure.
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:74
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
A shared pointer wrapper for ompl::base::SpaceInformation.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
Information stored at the beginning of the PlannerData archive.