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 
40 static const std::uint_fast32_t OMPL_PLANNER_DATA_ARCHIVE_MARKER = 0x5044414D; // this spells PDAM
41 
43 
45 
46 void 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 
53 void 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 
87 void ompl::base::PlannerDataStorage::load(const char *filename, PlannerData &pd)
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.