PlannerDataStorage.cpp
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34 
35 /* Author: Ryan Luna */
36 
37 #include "ompl/control/PlannerDataStorage.h"
38 #include <boost/archive/archive_exception.hpp>
39 
41 static const boost::uint32_t OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER = 0x5044434D; // this spells PDCM
43 
45 {
46  base::PlannerDataStorage::load(filename, pd);
47 }
48 
50 {
51  if (!pd.hasControls())
52  {
53  OMPL_WARN("PlannerData does not have controls. Invoking base::PlannerDataStorage::load");
55  return;
56  }
57 
58  auto *pdc = static_cast<control::PlannerData *>(&pd);
59  pdc->clear();
60 
61  const SpaceInformationPtr &si = pdc->getSpaceInformation();
62  if (!in.good())
63  {
64  OMPL_ERROR("Failed to load PlannerData: input stream is invalid");
65  return;
66  }
67  if (!si)
68  {
69  OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid");
70  return;
71  }
72  // Loading the planner data:
73  try
74  {
75  boost::archive::binary_iarchive ia(in);
76 
77  // Read the header
78  Header h;
79  ia >> h;
80 
81  // Checking the archive marker
82  if (h.marker != OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER)
83  {
84  OMPL_ERROR("Failed to load PlannerData: PlannerData control archive marker not found");
85  return;
86  }
87 
88  // Verify that the state space is the same
89  std::vector<int> sig;
90  si->getStateSpace()->computeSignature(sig);
91  if (h.signature != sig)
92  {
93  OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch");
94  return;
95  }
96 
97  // Verify that the control space is the same
98  sig.clear();
99  si->getControlSpace()->computeSignature(sig);
100  if (h.control_signature != sig)
101  {
102  OMPL_ERROR("Failed to load PlannerData: ControlSpace signature mismatch");
103  return;
104  }
105 
106  // File seems ok... loading vertices and edges
107  loadVertices(pd, h.vertex_count, ia);
108  loadEdges(pd, h.edge_count, ia);
109  }
110  catch (boost::archive::archive_exception &ae)
111  {
112  OMPL_ERROR("Failed to load PlannerData: %s", ae.what());
113  }
114 }
115 
116 void ompl::control::PlannerDataStorage::store(const base::PlannerData &pd, const char *filename)
117 {
118  base::PlannerDataStorage::store(pd, filename);
119 }
120 
122 {
123  const auto *pdc = static_cast<const control::PlannerData *>(&pd);
124  if (pdc == nullptr)
125  {
126  OMPL_WARN("Failed to cast PlannerData to control::PlannerData. Invoking base::PlannerDataStorage::store");
128  return;
129  }
130 
131  const SpaceInformationPtr &si = pdc->getSpaceInformation();
132  if (!out.good())
133  {
134  OMPL_ERROR("Failed to store PlannerData: output stream is invalid");
135  return;
136  }
137  if (!si)
138  {
139  OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid");
140  return;
141  }
142  try
143  {
144  boost::archive::binary_oarchive oa(out);
145 
146  // Writing the header
147  Header h;
148  h.marker = OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER;
149  h.vertex_count = pdc->numVertices();
150  h.edge_count = pdc->numEdges();
151  si->getStateSpace()->computeSignature(h.signature);
152  si->getControlSpace()->computeSignature(h.control_signature);
153  oa << h;
154 
155  storeVertices(pd, oa);
156  storeEdges(pd, oa);
157  }
158  catch (boost::archive::archive_exception &ae)
159  {
160  OMPL_ERROR("Failed to store PlannerData: %s", ae.what());
161  }
162 }
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
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
A shared pointer wrapper for ompl::base::SpaceInformation.
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 ...
void load(const char *filename, base::PlannerData &pd) override
Load the PlannerData structure from the given filename.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:122
void clear() override
Clears the entire data structure.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Information stored at the beginning of the PlannerData archive.