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 boost::uint32_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 }
virtual ~PlannerDataStorage()
Destructor.
unsigned int numEdges() const
Retrieve the number of edges in this structure.
virtual void storeEdges(const PlannerData &pd, boost::archive::binary_oarchive &oa)
Serialize and store all edges in pd to the binary archive.
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
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 ...
PlannerDataStorage()
Default constructor.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
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.
A shared pointer wrapper for ompl::base::SpaceInformation.
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:74
Information stored at the beginning of the PlannerData archive.
virtual void storeVertices(const PlannerData &pd, boost::archive::binary_oarchive &oa)
Serialize and store all vertices in pd to the binary archive.
std::size_t edge_count
Number of edges stored in the archive.
std::size_t vertex_count
Number of vertices stored in the archive.
boost::uint32_t marker
OMPL PlannerData specific marker (fixed value)
*std::vector< int > signature
Signature of state space that allocated the saved states in the vertices (see ompl::base::StateSpace:...
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.
virtual void store(const PlannerData &pd, const char *filename)
Store (serialize) the PlannerData structure to the given filename.