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 143 of file PlannerDataStorage.h.

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

• ompl/base/PlannerDataStorage.h
• ompl/base/src/PlannerDataStorage.cpp