ompl/control/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/control/PlannerDataStorage.h" 00038 #include <boost/archive/archive_exception.hpp> 00039 00041 static const boost::uint32_t OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER = 0x5044434D; // this spells PDCM 00043 00044 ompl::control::PlannerDataStorage::PlannerDataStorage() : base::PlannerDataStorage() 00045 { 00046 } 00047 00048 ompl::control::PlannerDataStorage::~PlannerDataStorage() 00049 { 00050 } 00051 00052 void ompl::control::PlannerDataStorage::load(const char *filename, base::PlannerData &pd) 00053 { 00054 base::PlannerDataStorage::load(filename, pd); 00055 } 00056 00057 void ompl::control::PlannerDataStorage::load(std::istream &in, base::PlannerData &pd) 00058 { 00059 if (!pd.hasControls()) 00060 { 00061 OMPL_WARN("PlannerData does not have controls. Invoking base::PlannerDataStorage::load"); 00062 base::PlannerDataStorage::load(in, pd); 00063 return; 00064 } 00065 00066 control::PlannerData *pdc = static_cast<control::PlannerData*>(&pd); 00067 pdc->clear(); 00068 00069 const SpaceInformationPtr &si = pdc->getSpaceInformation(); 00070 if (!in.good()) 00071 { 00072 OMPL_ERROR("Failed to load PlannerData: input stream is invalid"); 00073 return; 00074 } 00075 if (!si) 00076 { 00077 OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid"); 00078 return; 00079 } 00080 // Loading the planner data: 00081 try 00082 { 00083 boost::archive::binary_iarchive ia(in); 00084 00085 // Read the header 00086 Header h; 00087 ia >> h; 00088 00089 // Checking the archive marker 00090 if (h.marker != OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER) 00091 { 00092 OMPL_ERROR("Failed to load PlannerData: PlannerData control archive marker not found"); 00093 return; 00094 } 00095 00096 // Verify that the state space is the same 00097 std::vector<int> sig; 00098 si->getStateSpace()->computeSignature(sig); 00099 if (h.signature != sig) 00100 { 00101 OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch"); 00102 return; 00103 } 00104 00105 // Verify that the control space is the same 00106 sig.clear(); 00107 si->getControlSpace()->computeSignature(sig); 00108 if (h.control_signature != sig) 00109 { 00110 OMPL_ERROR("Failed to load PlannerData: ControlSpace signature mismatch"); 00111 return; 00112 } 00113 00114 // File seems ok... loading vertices and edges 00115 loadVertices(pd, h.vertex_count, ia); 00116 loadEdges(pd, h.edge_count, ia); 00117 } 00118 catch (boost::archive::archive_exception &ae) 00119 { 00120 OMPL_ERROR("Failed to load PlannerData: %s", ae.what()); 00121 } 00122 } 00123 00124 void ompl::control::PlannerDataStorage::store(const base::PlannerData &pd, const char *filename) 00125 { 00126 base::PlannerDataStorage::store(pd, filename); 00127 } 00128 00129 void ompl::control::PlannerDataStorage::store(const base::PlannerData &pd, std::ostream &out) 00130 { 00131 const control::PlannerData *pdc = static_cast<const control::PlannerData*>(&pd); 00132 if (!pdc) 00133 { 00134 OMPL_WARN("Failed to cast PlannerData to control::PlannerData. Invoking base::PlannerDataStorage::store"); 00135 base::PlannerDataStorage::store(pd, out); 00136 return; 00137 } 00138 00139 const SpaceInformationPtr &si = pdc->getSpaceInformation(); 00140 if (!out.good()) 00141 { 00142 OMPL_ERROR("Failed to store PlannerData: output stream is invalid"); 00143 return; 00144 } 00145 if (!si) 00146 { 00147 OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid"); 00148 return; 00149 } 00150 try 00151 { 00152 boost::archive::binary_oarchive oa(out); 00153 00154 // Writing the header 00155 Header h; 00156 h.marker = OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER; 00157 h.vertex_count = pdc->numVertices(); 00158 h.edge_count = pdc->numEdges(); 00159 si->getStateSpace()->computeSignature(h.signature); 00160 si->getControlSpace()->computeSignature(h.control_signature); 00161 oa << h; 00162 00163 storeVertices(pd, oa); 00164 storeEdges(pd, oa); 00165 } 00166 catch (boost::archive::archive_exception &ae) 00167 { 00168 OMPL_ERROR("Failed to store PlannerData: %s", ae.what()); 00169 } 00170 }