.. _program_listing_file_include_coal_serialization_octree.h:

Program Listing for File octree.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_serialization_octree.h>` (``include/coal/serialization/octree.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // Copyright (c) 2023-2024 INRIA
   //
   
   #ifndef COAL_SERIALIZATION_OCTREE_H
   #define COAL_SERIALIZATION_OCTREE_H
   
   #include <sstream>
   #include <iostream>
   
   #include <boost/serialization/string.hpp>
   
   #include "coal/octree.h"
   #include "coal/serialization/fwd.h"
   
   namespace boost {
   namespace serialization {
   
   namespace internal {
   struct OcTreeAccessor : coal::OcTree {
     typedef coal::OcTree Base;
     using Base::default_occupancy;
     using Base::free_threshold;
     using Base::occupancy_threshold;
     using Base::tree;
   };
   }  // namespace internal
   
   template <class Archive>
   void save_construct_data(Archive &ar, const coal::OcTree *octree_ptr,
                            const unsigned int /*version*/) {
     const coal::Scalar resolution = octree_ptr->getResolution();
     ar << make_nvp("resolution", resolution);
   }
   
   template <class Archive>
   void save(Archive &ar, const coal::OcTree &octree,
             const unsigned int /*version*/) {
     typedef internal::OcTreeAccessor Accessor;
     const Accessor &access = reinterpret_cast<const Accessor &>(octree);
   
     std::ostringstream stream;
     access.tree->write(stream);
     const std::string stream_str = stream.str();
     auto size = stream_str.size();
     // We can't directly serialize stream_str because it contains binary data.
     // This create a bug on Windows with text_archive
     ar << make_nvp("tree_data_size", size);
     ar << make_nvp("tree_data",
                    make_array(stream_str.c_str(), stream_str.size()));
   
     ar << make_nvp("base", base_object<coal::CollisionGeometry>(octree));
     ar << make_nvp("default_occupancy", access.default_occupancy);
     ar << make_nvp("occupancy_threshold", access.occupancy_threshold);
     ar << make_nvp("free_threshold", access.free_threshold);
   }
   
   template <class Archive>
   void load_construct_data(Archive &ar, coal::OcTree *octree_ptr,
                            const unsigned int /*version*/) {
     coal::Scalar resolution;
     ar >> make_nvp("resolution", resolution);
     new (octree_ptr) coal::OcTree(resolution);
   }
   
   template <class Archive>
   void load(Archive &ar, coal::OcTree &octree, const unsigned int /*version*/) {
     typedef internal::OcTreeAccessor Accessor;
     Accessor &access = reinterpret_cast<Accessor &>(octree);
   
     std::size_t tree_data_size;
     ar >> make_nvp("tree_data_size", tree_data_size);
   
     std::string stream_str;
     stream_str.resize(tree_data_size);
     assert(tree_data_size > 0 && "tree_data_size should be greater than 0");
     ar >> make_nvp("tree_data", make_array(&stream_str[0], tree_data_size));
     std::istringstream stream(stream_str);
   
     octomap::AbstractOcTree *new_tree = octomap::AbstractOcTree::read(stream);
     access.tree = std::shared_ptr<const octomap::OcTree>(
         dynamic_cast<octomap::OcTree *>(new_tree));
   
     ar >> make_nvp("base", base_object<coal::CollisionGeometry>(octree));
     ar >> make_nvp("default_occupancy", access.default_occupancy);
     ar >> make_nvp("occupancy_threshold", access.occupancy_threshold);
     ar >> make_nvp("free_threshold", access.free_threshold);
   }
   
   template <class Archive>
   void serialize(Archive &ar, coal::OcTree &octree, const unsigned int version) {
     split_free(ar, octree, version);
   }
   
   }  // namespace serialization
   }  // namespace boost
   
   COAL_SERIALIZATION_DECLARE_EXPORT(::coal::OcTree)
   
   #endif  // ifndef COAL_SERIALIZATION_OCTREE_H