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Manage loading and storing for a set of states of a specified state space. More...

#include <ompl/base/StateStorage.h>

Inheritance diagram for ompl::base::StateStorage:

Classes

struct  Header
 Information stored at the beginning of the archive. More...
 

Public Member Functions

 StateStorage (StateSpacePtr space)
 The state space to store states for is specified as argument.
 
const StateSpacePtrgetStateSpace () const
 Get the state space this class maintains states for.
 
void load (const char *filename)
 Load a set of states from a specified file.
 
virtual void load (std::istream &in)
 Load a set of states from a stream.
 
void store (const char *filename)
 Save a set of states to a file.
 
virtual void store (std::ostream &out)
 Save a set of states to a stream.
 
virtual void addState (const State *state)
 Add a state to the set of states maintained by this storage structure. The state is copied to internal storage.
 
virtual void generateSamples (unsigned int count)
 Generate count states uniformly at random and store them in this structure.
 
virtual void clear ()
 Clear the stored states. This frees all the memory.
 
std::size_t size () const
 Return the number of stored states.
 
const std::vector< const State * > & getStates () const
 Get the stored states.
 
StategetState (unsigned int index)
 Get a particular state for non-const access.
 
const StategetState (unsigned int index) const
 Get a particular state.
 
bool hasMetadata () const
 Return a flag that indicates whether there is metadata associated to the states in this storage.
 
void sort (const std::function< bool(const State *, const State *)> &op)
 Sort the states according to the less-equal operator op. Metadata is NOT sorted; if metadata was added, the index values of the metadata will not match after the sort.
 
StateSamplerAllocator getStateSamplerAllocator () const
 Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure.
 
StateSamplerAllocator getStateSamplerAllocatorRangeUntil (std::size_t until) const
 Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index less than or equal to until.
 
StateSamplerAllocator getStateSamplerAllocatorRangeAfter (std::size_t after) const
 Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index above or equal to after.
 
virtual StateSamplerAllocator getStateSamplerAllocatorRange (std::size_t from, std::size_t to) const
 Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index in the range [from, to] (inclusive)
 
virtual void print (std::ostream &out=std::cout) const
 Output the set of states to a specified stream, in a human readable fashion.
 

Protected Member Functions

virtual void loadStates (const Header &h, boost::archive::binary_iarchive &ia)
 Load the states from a binary archive ia, given the loaded header is h.
 
virtual void loadMetadata (const Header &h, boost::archive::binary_iarchive &ia)
 Load the state metadata from a binary archive ia, given the loaded header is h. No metadata is actually loaded unless the StateStorageWithMetadata class is used.
 
virtual void storeStates (const Header &h, boost::archive::binary_oarchive &oa)
 Store the states to a binary archive oa, given the stored header is h.
 
virtual void storeMetadata (const Header &h, boost::archive::binary_oarchive &oa)
 Save the state metadata to a binary archive oa, given the stored header is h. No metadata is actually saved unless the StateStorageWithMetadata class is used.
 
void freeMemory ()
 Free the memory allocated for states.
 

Protected Attributes

StateSpacePtr space_
 State space that corresponds to maintained states.
 
std::vector< const State * > states_
 The list of maintained states.
 
bool hasMetadata_
 Flag indicating whether there is metadata associated to the states in this storage.
 

Detailed Description

Manage loading and storing for a set of states of a specified state space.

Deprecated
This class is deprecated and will be removed in the future. Please use the improved PlannerDataStorage.

Definition at line 61 of file StateStorage.h.

Constructor & Destructor Documentation

◆ StateStorage()

ompl::base::StateStorage::StateStorage ( StateSpacePtr space)

The state space to store states for is specified as argument.

Definition at line 74 of file StateStorage.cpp.

◆ ~StateStorage()

ompl::base::StateStorage::~StateStorage ( )
virtual

Definition at line 78 of file StateStorage.cpp.

Member Function Documentation

◆ addState()

void ompl::base::StateStorage::addState ( const State * state)
virtual

Add a state to the set of states maintained by this storage structure. The state is copied to internal storage.

Reimplemented in ompl::base::StateStorageWithMetadata< M >.

Definition at line 198 of file StateStorage.cpp.

◆ clear()

void ompl::base::StateStorage::clear ( )
virtual

Clear the stored states. This frees all the memory.

Reimplemented in ompl::base::StateStorageWithMetadata< M >.

Definition at line 224 of file StateStorage.cpp.

◆ freeMemory()

void ompl::base::StateStorage::freeMemory ( )
protected

Free the memory allocated for states.

Definition at line 218 of file StateStorage.cpp.

◆ generateSamples()

void ompl::base::StateStorage::generateSamples ( unsigned int count)
virtual

Generate count states uniformly at random and store them in this structure.

Definition at line 205 of file StateStorage.cpp.

◆ getState() [1/2]

State * ompl::base::StateStorage::getState ( unsigned int index)
inline

Get a particular state for non-const access.

Definition at line 109 of file StateStorage.h.

◆ getState() [2/2]

const State * ompl::base::StateStorage::getState ( unsigned int index) const
inline

Get a particular state.

Definition at line 116 of file StateStorage.h.

◆ getStates()

const std::vector< const State * > & ompl::base::StateStorage::getStates ( ) const
inline

Get the stored states.

Definition at line 103 of file StateStorage.h.

◆ getStateSamplerAllocator()

ompl::base::StateSamplerAllocator ompl::base::StateStorage::getStateSamplerAllocator ( ) const

Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure.

Definition at line 235 of file StateStorage.cpp.

◆ getStateSamplerAllocatorRange()

ompl::base::StateSamplerAllocator ompl::base::StateStorage::getStateSamplerAllocatorRange ( std::size_t from,
std::size_t to ) const
virtual

Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index in the range [from, to] (inclusive)

Definition at line 250 of file StateStorage.cpp.

◆ getStateSamplerAllocatorRangeAfter()

ompl::base::StateSamplerAllocator ompl::base::StateStorage::getStateSamplerAllocatorRangeAfter ( std::size_t after) const

Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index above or equal to after.

Definition at line 245 of file StateStorage.cpp.

◆ getStateSamplerAllocatorRangeUntil()

ompl::base::StateSamplerAllocator ompl::base::StateStorage::getStateSamplerAllocatorRangeUntil ( std::size_t until) const

Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index less than or equal to until.

Definition at line 240 of file StateStorage.cpp.

◆ getStateSpace()

const StateSpacePtr & ompl::base::StateStorage::getStateSpace ( ) const
inline

Get the state space this class maintains states for.

Definition at line 69 of file StateStorage.h.

◆ hasMetadata()

bool ompl::base::StateStorage::hasMetadata ( ) const
inline

Return a flag that indicates whether there is metadata associated to the states in this storage.

Definition at line 124 of file StateStorage.h.

◆ load() [1/2]

void ompl::base::StateStorage::load ( const char * filename)

Load a set of states from a specified file.

Definition at line 83 of file StateStorage.cpp.

◆ load() [2/2]

void ompl::base::StateStorage::load ( std::istream & in)
virtual

Load a set of states from a stream.

Definition at line 97 of file StateStorage.cpp.

◆ loadMetadata()

void ompl::base::StateStorage::loadMetadata ( const Header & h,
boost::archive::binary_iarchive & ia )
protectedvirtual

Load the state metadata from a binary archive ia, given the loaded header is h. No metadata is actually loaded unless the StateStorageWithMetadata class is used.

Reimplemented in ompl::base::StateStorageWithMetadata< M >.

Definition at line 150 of file StateStorage.cpp.

◆ loadStates()

void ompl::base::StateStorage::loadStates ( const Header & h,
boost::archive::binary_iarchive & ia )
protectedvirtual

Load the states from a binary archive ia, given the loaded header is h.

Definition at line 133 of file StateStorage.cpp.

◆ print()

void ompl::base::StateStorage::print ( std::ostream & out = std::cout) const
virtual

Output the set of states to a specified stream, in a human readable fashion.

Definition at line 263 of file StateStorage.cpp.

◆ size()

std::size_t ompl::base::StateStorage::size ( ) const
inline

Return the number of stored states.

Definition at line 97 of file StateStorage.h.

◆ sort()

void ompl::base::StateStorage::sort ( const std::function< bool(const State *, const State *)> & op)

Sort the states according to the less-equal operator op. Metadata is NOT sorted; if metadata was added, the index values of the metadata will not match after the sort.

Definition at line 230 of file StateStorage.cpp.

◆ store() [1/2]

void ompl::base::StateStorage::store ( const char * filename)

Save a set of states to a file.

Definition at line 90 of file StateStorage.cpp.

◆ store() [2/2]

void ompl::base::StateStorage::store ( std::ostream & out)
virtual

Save a set of states to a stream.

Definition at line 154 of file StateStorage.cpp.

◆ storeMetadata()

void ompl::base::StateStorage::storeMetadata ( const Header & h,
boost::archive::binary_oarchive & oa )
protectedvirtual

Save the state metadata to a binary archive oa, given the stored header is h. No metadata is actually saved unless the StateStorageWithMetadata class is used.

Reimplemented in ompl::base::StateStorageWithMetadata< M >.

Definition at line 194 of file StateStorage.cpp.

◆ storeStates()

void ompl::base::StateStorage::storeStates ( const Header & h,
boost::archive::binary_oarchive & oa )
protectedvirtual

Store the states to a binary archive oa, given the stored header is h.

Definition at line 180 of file StateStorage.cpp.

Member Data Documentation

◆ hasMetadata_

bool ompl::base::StateStorage::hasMetadata_
protected

Flag indicating whether there is metadata associated to the states in this storage.

Definition at line 208 of file StateStorage.h.

◆ space_

StateSpacePtr ompl::base::StateStorage::space_
protected

State space that corresponds to maintained states.

Definition at line 202 of file StateStorage.h.

◆ states_

std::vector<const State *> ompl::base::StateStorage::states_
protected

The list of maintained states.

Definition at line 205 of file StateStorage.h.


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