ompl::control::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/control/PlannerDataStorage.h>

Inheritance diagram for ompl::control::PlannerDataStorage:

Public Member Functions

 PlannerDataStorage ()
 Default constructor.
 
 ~PlannerDataStorage () override
 Destructor.
 
void load (const char *filename, base::PlannerData &pd) override
 Load the PlannerData structure from the given filename.
 
void load (std::istream &in, base::PlannerData &pd) override
 Deserializes the structure from the given stream.
 
void 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.
 
void 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.
 
- Public Member Functions inherited from ompl::base::PlannerDataStorage
 PlannerDataStorage ()
 Default constructor.
 

Protected Member Functions

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.
 
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.
 
- Protected Member Functions inherited from ompl::base::PlannerDataStorage
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.
 

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);
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.

Definition at line 52 of file PlannerDataStorage.h.


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