GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/octree.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 41 41 100.0%
Branches: 30 60 50.0%
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1 //
2 // Copyright (c) 2023-2024 INRIA
3 //
4
5 #ifndef COAL_SERIALIZATION_OCTREE_H
6 #define COAL_SERIALIZATION_OCTREE_H
7
8 #include <sstream>
9 #include <iostream>
10
11 #include <boost/serialization/string.hpp>
12
13 #include "coal/octree.h"
14 #include "coal/serialization/fwd.h"
15
16 namespace boost {
17 namespace serialization {
18
19 namespace internal {
20 struct OcTreeAccessor : coal::OcTree {
21 typedef coal::OcTree Base;
22 using Base::default_occupancy;
23 using Base::free_threshold;
24 using Base::occupancy_threshold;
25 using Base::tree;
26 };
27 } // namespace internal
28
29 template <class Archive>
30 1 void save_construct_data(Archive &ar, const coal::OcTree *octree_ptr,
31 const unsigned int /*version*/) {
32
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 1 const coal::Scalar resolution = octree_ptr->getResolution();
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 1 ar << make_nvp("resolution", resolution);
34 1 }
35
36 template <class Archive>
37 16 void save(Archive &ar, const coal::OcTree &octree,
38 const unsigned int /*version*/) {
39 typedef internal::OcTreeAccessor Accessor;
40 16 const Accessor &access = reinterpret_cast<const Accessor &>(octree);
41
42
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 16 std::ostringstream stream;
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 16 access.tree->write(stream);
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 16 const std::string stream_str = stream.str();
45 16 auto size = stream_str.size();
46 // We can't directly serialize stream_str because it contains binary data.
47 // This create a bug on Windows with text_archive
48
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 16 ar << make_nvp("tree_data_size", size);
49
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 16 ar << make_nvp("tree_data",
50 make_array(stream_str.c_str(), stream_str.size()));
51
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 16 ar << make_nvp("base", base_object<coal::CollisionGeometry>(octree));
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 16 ar << make_nvp("default_occupancy", access.default_occupancy);
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 16 ar << make_nvp("occupancy_threshold", access.occupancy_threshold);
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 16 ar << make_nvp("free_threshold", access.free_threshold);
56 16 }
57
58 template <class Archive>
59 1 void load_construct_data(Archive &ar, coal::OcTree *octree_ptr,
60 const unsigned int /*version*/) {
61 coal::Scalar resolution;
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 1 ar >> make_nvp("resolution", resolution);
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 1 new (octree_ptr) coal::OcTree(resolution);
64 1 }
65
66 template <class Archive>
67 16 void load(Archive &ar, coal::OcTree &octree, const unsigned int /*version*/) {
68 typedef internal::OcTreeAccessor Accessor;
69 16 Accessor &access = reinterpret_cast<Accessor &>(octree);
70
71 std::size_t tree_data_size;
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 16 ar >> make_nvp("tree_data_size", tree_data_size);
73
74 16 std::string stream_str;
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 16 stream_str.resize(tree_data_size);
76 /// TODO use stream_str.data in C++17
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 16 assert(tree_data_size > 0 && "tree_data_size should be greater than 0");
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 16 ar >> make_nvp("tree_data", make_array(&stream_str[0], tree_data_size));
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 16 std::istringstream stream(stream_str);
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 16 octomap::AbstractOcTree *new_tree = octomap::AbstractOcTree::read(stream);
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 16 access.tree = std::shared_ptr<const octomap::OcTree>(
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 16 dynamic_cast<octomap::OcTree *>(new_tree));
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 16 ar >> make_nvp("base", base_object<coal::CollisionGeometry>(octree));
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 16 ar >> make_nvp("default_occupancy", access.default_occupancy);
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 16 ar >> make_nvp("occupancy_threshold", access.occupancy_threshold);
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 16 ar >> make_nvp("free_threshold", access.free_threshold);
89 16 }
90
91 template <class Archive>
92 32 void serialize(Archive &ar, coal::OcTree &octree, const unsigned int version) {
93 32 split_free(ar, octree, version);
94 32 }
95
96 } // namespace serialization
97 } // namespace boost
98
99 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::OcTree)
100
101 #endif // ifndef COAL_SERIALIZATION_OCTREE_H
102