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PlannerDataStorage.cpp
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162 lines (145 loc) · 5.43 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ryan Luna */
#include "ompl/control/PlannerDataStorage.h"
#include <boost/archive/archive_exception.hpp>
/// \cond IGNORE
static const boost::uint32_t OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER = 0x5044434D; // this spells PDCM
/// \endcond
void ompl::control::PlannerDataStorage::load(const char *filename, base::PlannerData &pd)
{
base::PlannerDataStorage::load(filename, pd);
}
void ompl::control::PlannerDataStorage::load(std::istream &in, base::PlannerData &pd)
{
if (!pd.hasControls())
{
OMPL_WARN("PlannerData does not have controls. Invoking base::PlannerDataStorage::load");
base::PlannerDataStorage::load(in, pd);
return;
}
auto *pdc = static_cast<control::PlannerData *>(&pd);
pdc->clear();
const SpaceInformationPtr &si = pdc->getSpaceInformation();
if (!in.good())
{
OMPL_ERROR("Failed to load PlannerData: input stream is invalid");
return;
}
if (!si)
{
OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid");
return;
}
// Loading the planner data:
try
{
boost::archive::binary_iarchive ia(in);
// Read the header
Header h;
ia >> h;
// Checking the archive marker
if (h.marker != OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER)
{
OMPL_ERROR("Failed to load PlannerData: PlannerData control archive marker not found");
return;
}
// Verify that the state space is the same
std::vector<int> sig;
si->getStateSpace()->computeSignature(sig);
if (h.signature != sig)
{
OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch");
return;
}
// Verify that the control space is the same
sig.clear();
si->getControlSpace()->computeSignature(sig);
if (h.control_signature != sig)
{
OMPL_ERROR("Failed to load PlannerData: ControlSpace signature mismatch");
return;
}
// File seems ok... loading vertices and edges
loadVertices(pd, h.vertex_count, ia);
loadEdges(pd, h.edge_count, ia);
}
catch (boost::archive::archive_exception &ae)
{
OMPL_ERROR("Failed to load PlannerData: %s", ae.what());
}
}
void ompl::control::PlannerDataStorage::store(const base::PlannerData &pd, const char *filename)
{
base::PlannerDataStorage::store(pd, filename);
}
void ompl::control::PlannerDataStorage::store(const base::PlannerData &pd, std::ostream &out)
{
const auto *pdc = static_cast<const control::PlannerData *>(&pd);
if (pdc == nullptr)
{
OMPL_WARN("Failed to cast PlannerData to control::PlannerData. Invoking base::PlannerDataStorage::store");
base::PlannerDataStorage::store(pd, out);
return;
}
const SpaceInformationPtr &si = pdc->getSpaceInformation();
if (!out.good())
{
OMPL_ERROR("Failed to store PlannerData: output stream is invalid");
return;
}
if (!si)
{
OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid");
return;
}
try
{
boost::archive::binary_oarchive oa(out);
// Writing the header
Header h;
h.marker = OMPL_PLANNER_DATA_CONTROL_ARCHIVE_MARKER;
h.vertex_count = pdc->numVertices();
h.edge_count = pdc->numEdges();
si->getStateSpace()->computeSignature(h.signature);
si->getControlSpace()->computeSignature(h.control_signature);
oa << h;
storeVertices(pd, oa);
storeEdges(pd, oa);
}
catch (boost::archive::archive_exception &ae)
{
OMPL_ERROR("Failed to store PlannerData: %s", ae.what());
}
}