StateStorage.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_STATE_STORAGE_
#define OMPL_BASE_STATE_STORAGE_
 
#include "ompl/base/StateSpace.h"
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/vector.hpp>
#include <functional>
#include <iostream>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(StateStorage);
 
        class StateStorage
        {
        public:
            StateStorage(StateSpacePtr space);
            virtual ~StateStorage();
 
            const StateSpacePtr &getStateSpace() const
            {
                return space_;
            }
 
            void load(const char *filename);
 
            virtual void load(std::istream &in);
 
            void store(const char *filename);
 
            virtual void store(std::ostream &out);
 
            virtual void addState(const State *state);
 
            virtual void generateSamples(unsigned int count);
 
            virtual void clear();
 
            std::size_t size() const
            {
                return states_.size();
            }
 
            const std::vector<const State *> &getStates() const
            {
                return states_;
            }
 
            State *getState(unsigned int index)
            {
                assert(states_.size() > index);
                return const_cast<State *>(states_[index]);
            }
 
            const State *getState(unsigned int index) const
            {
                assert(states_.size() > index);
                return states_[index];
            }
 
            bool hasMetadata() const
            {
                return hasMetadata_;
            }
 
            void sort(const std::function<bool(const State *, const State *)> &op);
 
            StateSamplerAllocator getStateSamplerAllocator() const;
 
            StateSamplerAllocator getStateSamplerAllocatorRangeUntil(std::size_t until) const;
 
            StateSamplerAllocator getStateSamplerAllocatorRangeAfter(std::size_t after) const;
 
            virtual StateSamplerAllocator getStateSamplerAllocatorRange(std::size_t from, std::size_t to) const;
 
            virtual void print(std::ostream &out = std::cout) const;
 
        protected:
            struct Header
            {
                std::uint_fast32_t marker;
 
                std::size_t state_count;
 
                std::vector<int> signature;
 
                template <typename Archive>
                void serialize(Archive &ar, const unsigned int /*version*/)
                {
                    ar &marker;
                    ar &state_count;
                    ar &signature;
                }
            };
 
            virtual void loadStates(const Header &h, boost::archive::binary_iarchive &ia);
 
            virtual void loadMetadata(const Header &h, boost::archive::binary_iarchive &ia);
 
            virtual void storeStates(const Header &h, boost::archive::binary_oarchive &oa);
 
            virtual void storeMetadata(const Header &h, boost::archive::binary_oarchive &oa);
 
            void freeMemory();
 
            StateSpacePtr space_;
 
            std::vector<const State *> states_;
 
            bool hasMetadata_;
        };
 
        template <typename M>
        class StateStorageWithMetadata : public StateStorage
        {
        public:
            using MetadataType = M;
 
            StateStorageWithMetadata(const StateSpacePtr &space) : StateStorage(space)
            {
                hasMetadata_ = true;
            }
 
            void addState(const State *state) override
            {
                addState(state, M());
            }
 
            virtual void addState(const State *state, const M &metadata)
            {
                StateStorage::addState(state);
                metadata_.push_back(metadata);
            }
 
            void clear() override
            {
                StateStorage::clear();
                metadata_.clear();
            }
 
            const M &getMetadata(unsigned int index) const
            {
                assert(metadata_.size() > index);
                return metadata_[index];
            }
 
            M &getMetadata(unsigned int index)
            {
                assert(metadata_.size() > index);
                return metadata_[index];
            }
 
        protected:
            void loadMetadata(const Header & /*h*/, boost::archive::binary_iarchive &ia) override
            {
                // clear default metadata that was added by StateStorage::loadStates()
                metadata_.clear();
                ia >> metadata_;
            }
 
            void storeMetadata(const Header & /*h*/, boost::archive::binary_oarchive &oa) override
            {
                oa << metadata_;
            }
 
            std::vector<M> metadata_;
        };
 
        using GraphStateStorage = StateStorageWithMetadata<std::vector<std::size_t>>;
        using GraphStateStoragePtr = std::shared_ptr<GraphStateStorage>;
    }
}
#endif