ompl::base::PlannerDataStorage Class Reference

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. More...

#include <ompl/base/PlannerDataStorage.h>

Inheritance diagram for ompl::base::PlannerDataStorage:

Classes

struct  Header
 Information stored at the beginning of the PlannerData archive. More...
 
struct  PlannerDataEdgeData
 The object containing all edge data that will be stored. More...
 
struct  PlannerDataVertexData
 The object containing all vertex data that will be stored. More...
 

Public Member Functions

 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 store (const PlannerData &pd, std::ostream &out)
 Store (serialize) the PlannerData structure to the given stream.
 
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 must match the StateSpace inside of the argument PlannerData.
 
virtual void 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.
 

Protected Member Functions

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.
 
virtual void storeVertices (const PlannerData &pd, boost::archive::binary_oarchive &oa)
 Serialize and store all vertices in pd to the binary archive.
 
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 storeEdges (const PlannerData &pd, boost::archive::binary_oarchive &oa)
 Serialize and store all edges in pd to the binary archive.
 

Detailed Description

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.

Remarks
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);

Definition at line 79 of file PlannerDataStorage.h.


The documentation for this class was generated from the following files: