ompl/base/src/PlannerDataStorage.cpp
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ryan Luna */ 00036 00037 #include "ompl/base/PlannerDataStorage.h" 00038 #include <boost/archive/archive_exception.hpp> 00039 00040 static const boost::uint32_t OMPL_PLANNER_DATA_ARCHIVE_MARKER = 0x5044414D; // this spells PDAM 00041 00042 ompl::base::PlannerDataStorage::PlannerDataStorage() 00043 { 00044 } 00045 00046 ompl::base::PlannerDataStorage::~PlannerDataStorage() 00047 { 00048 } 00049 00050 void ompl::base::PlannerDataStorage::store(const PlannerData &pd, const char *filename) 00051 { 00052 std::ofstream out(filename, std::ios::binary); 00053 store(pd, out); 00054 out.close(); 00055 } 00056 00057 void ompl::base::PlannerDataStorage::store(const PlannerData &pd, std::ostream &out) 00058 { 00059 const SpaceInformationPtr &si = pd.getSpaceInformation(); 00060 if (!out.good()) 00061 { 00062 OMPL_ERROR("Failed to store PlannerData: output stream is invalid"); 00063 return; 00064 } 00065 if (!si) 00066 { 00067 OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid"); 00068 return; 00069 } 00070 try 00071 { 00072 boost::archive::binary_oarchive oa(out); 00073 00074 // Writing the header 00075 Header h; 00076 h.marker = OMPL_PLANNER_DATA_ARCHIVE_MARKER; 00077 h.vertex_count = pd.numVertices(); 00078 h.edge_count = pd.numEdges(); 00079 si->getStateSpace()->computeSignature(h.signature); 00080 oa << h; 00081 00082 storeVertices(pd, oa); 00083 storeEdges(pd, oa); 00084 } 00085 catch (boost::archive::archive_exception &ae) 00086 { 00087 OMPL_ERROR("Failed to store PlannerData: %s", ae.what()); 00088 } 00089 } 00090 00091 void ompl::base::PlannerDataStorage::load(const char *filename, PlannerData &pd) 00092 { 00093 std::ifstream in(filename, std::ios::binary); 00094 load(in, pd); 00095 in.close(); 00096 } 00097 00098 void ompl::base::PlannerDataStorage::load(std::istream &in, PlannerData &pd) 00099 { 00100 pd.clear(); 00101 00102 const SpaceInformationPtr &si = pd.getSpaceInformation(); 00103 if (!in.good()) 00104 { 00105 OMPL_ERROR("Failed to load PlannerData: input stream is invalid"); 00106 return; 00107 } 00108 if (!si) 00109 { 00110 OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid"); 00111 return; 00112 } 00113 // Loading the planner data: 00114 try 00115 { 00116 boost::archive::binary_iarchive ia(in); 00117 00118 // Read the header 00119 Header h; 00120 ia >> h; 00121 00122 // Checking the archive marker 00123 if (h.marker != OMPL_PLANNER_DATA_ARCHIVE_MARKER) 00124 { 00125 OMPL_ERROR("Failed to load PlannerData: PlannerData archive marker not found"); 00126 return; 00127 } 00128 00129 // Verify that the state space is the same 00130 std::vector<int> sig; 00131 si->getStateSpace()->computeSignature(sig); 00132 if (h.signature != sig) 00133 { 00134 OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch"); 00135 return; 00136 } 00137 00138 // File seems ok... loading vertices and edges 00139 loadVertices(pd, h.vertex_count, ia); 00140 loadEdges(pd, h.edge_count, ia); 00141 } 00142 catch (boost::archive::archive_exception &ae) 00143 { 00144 OMPL_ERROR("Failed to load PlannerData: %s", ae.what()); 00145 } 00146 }