PlannerDataStorage.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_BASE_PLANNER_DATA_STORAGE_
#define OMPL_BASE_PLANNER_DATA_STORAGE_
 
#include "ompl/base/PlannerData.h"
#include "ompl/util/Console.h"
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/utility.hpp>
#include <fstream>
 
namespace ompl
{
    namespace base
    {
        class PlannerDataStorage
        {
        public:
            PlannerDataStorage();
            virtual ~PlannerDataStorage();
 
            virtual bool store(const PlannerData &pd, const char *filename);
 
            virtual bool store(const PlannerData &pd, std::ostream &out);
 
            virtual bool load(const char *filename, PlannerData &pd);
 
            virtual bool load(std::istream &in, PlannerData &pd);
 
        protected:
            struct Header
            {
                std::uint_fast32_t marker;
 
                std::size_t vertex_count;
 
                std::size_t edge_count;
 
                std::vector<int> signature;
 
                template <typename Archive>
                void serialize(Archive &ar, const unsigned int /*version*/)
                {
                    ar &marker;
                    ar &vertex_count;
                    ar &edge_count;
                    ar &signature;
                }
            };
 
            struct PlannerDataVertexData
            {
                enum VertexType
                {
                    STANDARD = 0,
                    START,
                    GOAL
                };
 
                template <typename Archive>
                void serialize(Archive &ar, const unsigned int /*version*/)
                {
                    ar &v_;
                    ar &state_;
                    ar &type_;
                }
 
                const PlannerDataVertex *v_;
                std::vector<unsigned char> state_;
                VertexType type_;
            };
 
            struct PlannerDataEdgeData
            {
                template <typename Archive>
                void serialize(Archive &ar, const unsigned int /*version*/)
                {
                    ar &e_;
                    ar &endpoints_;
                    ar &weight_;
                }
 
                const PlannerDataEdge *e_;
                std::pair<unsigned int, unsigned int> endpoints_;
                double weight_;
            };
 
            virtual void loadVertices(PlannerData &pd, unsigned int numVertices, boost::archive::binary_iarchive &ia)
            {
                const StateSpacePtr &space = pd.getSpaceInformation()->getStateSpace();
                std::vector<State *> states;
                for (unsigned int i = 0; i < numVertices; ++i)
                {
                    PlannerDataVertexData vertexData;
                    ia >> vertexData;
 
                    // Deserializing all data in the vertex (except the state)
                    const PlannerDataVertex *v = vertexData.v_;
 
                    // Allocating a new state and deserializing it from the buffer
                    State *state = space->allocState();
                    states.push_back(state);
                    space->deserialize(state, &vertexData.state_[0]);
                    const_cast<PlannerDataVertex *>(v)->state_ = state;
 
                    // Record the type of the vertex (i.e. start vertex).
                    if (vertexData.type_ == PlannerDataVertexData::START)
                        pd.addStartVertex(*v);
                    else if (vertexData.type_ == PlannerDataVertexData::GOAL)
                        pd.addGoalVertex(*v);
                    else
                        pd.addVertex(*v);
 
                    // We deserialized the vertex object pointer, and we own it.
                    // Since addEdge copies the object, it is safe to free here.
                    delete vertexData.v_;
                }
 
                // These vertices are using state pointers allocated here.
                // To avoid a memory leak, we decouple planner data from the
                // 'planner', which will clone all states and properly free the
                // memory when PlannerData goes out of scope.  Then it is safe
                // to free all memory allocated here.
                pd.decoupleFromPlanner();
 
                for (auto &state : states)
                    space->freeState(state);
            }
 
            virtual void storeVertices(const PlannerData &pd, boost::archive::binary_oarchive &oa)
            {
                const StateSpacePtr &space = pd.getSpaceInformation()->getStateSpace();
                std::vector<unsigned char> state(space->getSerializationLength());
                for (unsigned int i = 0; i < pd.numVertices(); ++i)
                {
                    PlannerDataVertexData vertexData;
 
                    // Serializing all data in the vertex (except the state)
                    const PlannerDataVertex &v = pd.getVertex(i);
                    vertexData.v_ = &v;
 
                    // Record the type of the vertex (i.e. start vertex).
                    if (pd.isStartVertex(i))
                        vertexData.type_ = PlannerDataVertexData::START;
                    else if (pd.isGoalVertex(i))
                        vertexData.type_ = PlannerDataVertexData::GOAL;
                    else
                        vertexData.type_ = PlannerDataVertexData::STANDARD;
 
                    // Serializing the state contained in this vertex
                    space->serialize(&state[0], v.getState());
                    vertexData.state_ = state;
 
                    oa << vertexData;
                }
            }
 
            virtual void loadEdges(PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)
            {
                for (unsigned int i = 0; i < numEdges; ++i)
                {
                    PlannerDataEdgeData edgeData;
                    ia >> edgeData;
                    pd.addEdge(edgeData.endpoints_.first, edgeData.endpoints_.second, *edgeData.e_,
                               Cost(edgeData.weight_));
 
                    // We deserialized the edge object pointer, and we own it.
                    // Since addEdge copies the object, it is safe to free here.
                    delete edgeData.e_;
                }
            }
 
            virtual void storeEdges(const PlannerData &pd, boost::archive::binary_oarchive &oa)
            {
                std::vector<unsigned int> edgeList;
                for (unsigned int fromVertex = 0; fromVertex < pd.numVertices(); ++fromVertex)
                {
                    edgeList.clear();
                    pd.getEdges(fromVertex, edgeList);  // returns the id of each edge
 
                    // Process edges
                    for (unsigned int toVertex : edgeList)
                    {
                        // Get cost
                        Cost weight;
                        if (!pd.getEdgeWeight(fromVertex, toVertex, &weight))
                            OMPL_ERROR("Unable to get edge weight");
 
                        // Convert to new structure
                        PlannerDataEdgeData edgeData;
                        edgeData.e_ = &pd.getEdge(fromVertex, toVertex);
                        edgeData.endpoints_.first = fromVertex;
                        edgeData.endpoints_.second = toVertex;
                        edgeData.weight_ = weight.value();
                        oa << edgeData;
 
                    }  // for each edge
                }      // for each vertex
            }
        };
    }
}
 
#endif