Hello again !
I am continuing my structure serialization ...
Seems I do not get something with pointers ... I have followed the
"demo.cpp" example and tried to do the same as they are doing for pointers
but I get an exception when trying to relaod my structure !
Hope someone can help me ....
What I do:
-Save a Particle structure.
- this particle contains a SensoRreading class
-this sensorReading has a pointer to a Sensor class (only containing
a string)
When I save(serialize) the particle, the file "out.txt" contains the
following text:
22 serialization::archive 6 0 0 0 0 1.1000000000000001 4.4000000000000004 0
2.1000000000000001 8.4000000000000004 0 3 12.699999999999999 8.5 6 0 0 35 3
1 0 0 11 Sensor Name
This seems correct to me !
But when I try to load it back in a particle using
Particle p2 = Particle();
loadFromFile(p2, "out.txt");
It raises the follwoing error during compilation:
wheelchair@wheelchair-laptop:~/playerstage/boostTest$g++
simple_RangeReading.cpp -o simple -lboost_serialization
/usr/local/include/boost/archive/detail/iserializer.hpp: In static member
function ‘static void
boost::archive::detail::load_pointer_type<Archive>::invoke(Archive&, Tptr&)
[with Tptr = const Sensor*, Archive = boost::archive::text_iarchive]’:
/usr/local/include/boost/archive/detail/iserializer.hpp:554: instantiated
from ‘void boost::archive::load(Archive&, T&) [with Archive =
boost::archive::text_iarchive, T = const Sensor*]’
/usr/local/include/boost/archive/detail/common_iarchive.hpp:61:
instantiated from ‘void
boost::archive::detail::common_iarchive<Archive>::load_override(T&, int)
[with T = const Sensor*, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/basic_text_iarchive.hpp:62: instantiated
from ‘void boost::archive::basic_text_iarchive<Archive>::load_override(T&,
int) [with T = const Sensor*, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/text_iarchive.hpp:66: instantiated from
‘void boost::archive::text_iarchive_impl<Archive>::load_override(T&, int)
[with T = const Sensor*, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/interface_iarchive.hpp:61:
instantiated from ‘Archive&
boost::archive::detail::interface_iarchive<Archive>::operator>>(T&) [with T
= const Sensor*, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/interface_iarchive.hpp:68:
instantiated from ‘Archive&
boost::archive::detail::interface_iarchive<Archive>::operator&(T&) [with T =
const Sensor*, Archive = boost::archive::text_iarchive]’
simple_RangeReading.cpp:279: instantiated from ‘void
SensorReading::serialize(Archive&, unsigned int) [with Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/serialization/access.hpp:109: instantiated from
‘static void boost::serialization::access::serialize(Archive&, T&, unsigned
int) [with Archive = boost::archive::text_iarchive, T = SensorReading]’
/usr/local/include/boost/serialization/serialization.hpp:74: instantiated
from ‘void boost::serialization::serialize(Archive&, T&, unsigned int) [with
Archive = boost::archive::text_iarchive, T = SensorReading]’
/usr/local/include/boost/serialization/serialization.hpp:133: instantiated
from ‘void boost::serialization::serialize_adl(Archive&, T&, unsigned int)
[with Archive = boost::archive::text_iarchive, T = SensorReading]’
/usr/local/include/boost/archive/detail/iserializer.hpp:173: instantiated
from ‘void boost::archive::detail::iserializer::load_object_data(boost::archive::detail::basic_iarchive&, void*,
unsigned int) const [with Archive = boost::archive::text_iarchive, T =
SensorReading]’
simple_RangeReading.cpp:424: instantiated from here
/usr/local/include/boost/archive/detail/iserializer.hpp:486: error:
reinterpret_cast from type ‘const Sensor**’ to type ‘void**’ casts away
constness
/usr/local/include/boost/archive/detail/iserializer.hpp:489: error: no
matching function for call to
‘boost::archive::detail::load_pointer_typeboost::archive::text_iarchive::pointer_tweak(const
boost::serialization::extended_type_info&, const Sensor*&, const Sensor&)’
/usr/local/include/boost/archive/detail/iserializer.hpp: In member function
‘void boost::archive::detail::pointer_iserializer::load_object_ptr(boost::archive::detail::basic_iarchive&, void*&,
unsigned int) const [with Archive = boost::archive::text_iarchive, T = const
Sensor]’:
simple_RangeReading.cpp:424: instantiated from here
/usr/local/include/boost/archive/detail/iserializer.hpp:286: error: invalid
conversion from ‘const void*’ to ‘void*’
/usr/local/include/boost/archive/detail/iserializer.hpp:294: error: invalid
conversion from ‘const void*’ to ‘void*’
/usr/local/include/boost/archive/detail/iserializer.hpp:294: error:
initializing argument 1 of ‘void
boost::archive::detail::basic_iarchive::next_object_pointer(void*)’
/usr/local/include/boost/serialization/access.hpp: In static member function
‘static void boost::serialization::access::serialize(Archive&, T&, unsigned
int) [with Archive = boost::archive::text_iarchive, T = const Sensor]’:
/usr/local/include/boost/serialization/serialization.hpp:74: instantiated
from ‘void boost::serialization::serialize(Archive&, T&, unsigned int) [with
Archive = boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/serialization/serialization.hpp:133: instantiated
from ‘void boost::serialization::serialize_adl(Archive&, T&, unsigned int)
[with Archive = boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/archive/detail/iserializer.hpp:173: instantiated
from ‘void boost::archive::detail::iserializer::load_object_data(boost::archive::detail::basic_iarchive&, void*,
unsigned int) const [with Archive = boost::archive::text_iarchive, T = const
Sensor]’
simple_RangeReading.cpp:424: instantiated from here
/usr/local/include/boost/serialization/access.hpp:109: error: passing ‘const
Sensor’ as ‘this’ argument of ‘void Sensor::serialize(Archive&, unsigned
int) [with Archive = boost::archive::text_iarchive]’ discards qualifiers
/usr/local/include/boost/serialization/access.hpp: In static member function
‘static void boost::serialization::access::construct(T*) [with T = const
Sensor]’:
/usr/local/include/boost/serialization/serialization.hpp:98: instantiated
from ‘void boost::serialization::load_construct_data(Archive&, T*, unsigned
int) [with Archive = boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/serialization/serialization.hpp:163: instantiated
from ‘void boost::serialization::load_construct_data_adl(Archive&, T*,
unsigned int) [with Archive = boost::archive::text_iarchive, T = const
Sensor]’
/usr/local/include/boost/archive/detail/iserializer.hpp:295: instantiated
from ‘void boost::archive::detail::pointer_iserializer::load_object_ptr(boost::archive::detail::basic_iarchive&, void*&,
unsigned int) const [with Archive = boost::archive::text_iarchive, T = const
Sensor]’
simple_RangeReading.cpp:424: instantiated from here
/usr/local/include/boost/serialization/access.hpp:123: error: invalid
conversion from ‘const void*’ to ‘void*’
/usr/local/include/boost/serialization/access.hpp:123: error: initializing
argument 2 of ‘void* operator new(size_t, void*)’
/usr/local/include/boost/archive/detail/check.hpp: In function ‘void
boost::archive::detail::check_const_loading() [with T = const Sensor]’:
/usr/local/include/boost/archive/detail/iserializer.hpp:539: instantiated
from ‘void boost::archive::load(Archive&, T&) [with Archive =
boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/archive/detail/common_iarchive.hpp:61:
instantiated from ‘void
boost::archive::detail::common_iarchive<Archive>::load_override(T&, int)
[with T = const Sensor, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/basic_text_iarchive.hpp:62: instantiated
from ‘void boost::archive::basic_text_iarchive<Archive>::load_override(T&,
int) [with T = const Sensor, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/text_iarchive.hpp:66: instantiated from
‘void boost::archive::text_iarchive_impl<Archive>::load_override(T&, int)
[with T = const Sensor, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/interface_iarchive.hpp:61:
instantiated from ‘Archive&
boost::archive::detail::interface_iarchive<Archive>::operator>>(T&) [with T
= const Sensor, Archive = boost::archive::text_iarchive]’
/usr/local/include/boost/serialization/nvp.hpp:87: instantiated from ‘void
boost::serialization::nvp<T>::load(Archivex&, unsigned int) [with Archivex =
boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/serialization/access.hpp:101: instantiated from
‘static void boost::serialization::access::member_load(Archive&, T&,
unsigned int) [with Archive = boost::archive::text_iarchive, T =
boost::serialization::nvp<const Sensor>]’
/usr/local/include/boost/serialization/split_member.hpp:54: instantiated
from ‘static void boost::serialization::detail::member_loader::invoke(Archive&, T&, unsigned int) [with Archive =
boost::archive::text_iarchive, T = boost::serialization::nvp<const Sensor>]’
/usr/local/include/boost/serialization/split_member.hpp:69: instantiated
from ‘void boost::serialization::split_member(Archive&, T&, unsigned int)
[with Archive = boost::archive::text_iarchive, T =
boost::serialization::nvp<const Sensor>]’
/usr/local/include/boost/serialization/nvp.hpp:89: instantiated from ‘void
boost::serialization::nvp<T>::serialize(Archive&, unsigned int) [with
Archive = boost::archive::text_iarchive, T = const Sensor]’
/usr/local/include/boost/serialization/access.hpp:109: instantiated from
‘static void boost::serialization::access::serialize(Archive&, T&, unsigned
int) [with Archive = boost::archive::text_iarchive, T =
boost::serialization::nvp<const Sensor>]’
/usr/local/include/boost/serialization/serialization.hpp:74: instantiated
from ‘void boost::serialization::serialize(Archive&, T&, unsigned int) [with
Archive = boost::archive::text_iarchive, T = boost::serialization::nvp<const
Sensor>]’
/usr/local/include/boost/serialization/serialization.hpp:133: instantiated
from ‘void boost::serialization::serialize_adl(Archive&, T&, unsigned int)
[with Archive = boost::archive::text_iarchive, T =
boost::serialization::nvp<const Sensor>]’
/usr/local/include/boost/archive/detail/iserializer.hpp:349: instantiated
from ‘static void
boost::archive::detail::load_non_pointer_type<Archive>::load_only::invoke(Archive&,
const T&) [with T = boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/iserializer.hpp:415: instantiated
from ‘static void
boost::archive::detail::load_non_pointer_type<Archive>::invoke(Archive&, T&)
[with T = const boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/iserializer.hpp:554: instantiated
from ‘void boost::archive::load(Archive&, T&) [with Archive =
boost::archive::text_iarchive, T = const boost::serialization::nvp<const
Sensor>]’
/usr/local/include/boost/archive/detail/common_iarchive.hpp:61:
instantiated from ‘void
boost::archive::detail::common_iarchive<Archive>::load_override(T&, int)
[with T = const boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/basic_text_iarchive.hpp:62: instantiated
from ‘void boost::archive::basic_text_iarchive<Archive>::load_override(T&,
int) [with T = const boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/text_iarchive.hpp:66: instantiated from
‘void boost::archive::text_iarchive_impl<Archive>::load_override(T&, int)
[with T = const boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/interface_iarchive.hpp:61:
instantiated from ‘Archive&
boost::archive::detail::interface_iarchive<Archive>::operator>>(T&) [with T
= const boost::serialization::nvp<const Sensor>, Archive =
boost::archive::text_iarchive]’
/usr/local/include/boost/archive/detail/iserializer.hpp:307: instantiated
from ‘void boost::archive::detail::pointer_iserializer::load_object_ptr(boost::archive::detail::basic_iarchive&, void*&,
unsigned int) const [with Archive = boost::archive::text_iarchive, T = const
Sensor]’
simple_RangeReading.cpp:424: instantiated from here
/usr/local/include/boost/archive/detail/check.hpp:162: error: invalid
application of ‘sizeof’ to incomplete type
‘boost::STATIC_ASSERTION_FAILURE<false>’
/usr/local/include/boost/archive/detail/check.hpp:162: error: invalid
application of ‘sizeof’ to incomplete type
‘boost::STATIC_ASSERTION_FAILURE<false>’
wheelchair@wheelchair-laptop:~/playerstage/boostTest$
Here is the code:
#include <iostream>
#include <iterator>
#include <algorithm>
#include <sstream>
#include <fstream>
#include
#include
#include
using namespace std;
using namespace boost::archive;
using namespace boost::serialization;
/*
* point
*
*/
template <class T> struct point{
inline point():x(0),y(0) {}
inline point(T _x, T _y):x(_x),y(_y){}
T x, y;
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive& ar, const unsigned int version){
ar & x & y;
}
};
/*
* OrientedPoint
*
*/
template
struct orientedpoint: public point<T>{
inline orientedpoint() : point<T>(0,0), theta(0) {};
inline orientedpoint(const point<T>& p);
inline void print(){cout << "(" << this->x << "," << this->y << "," <<
theta << ")";}
A theta;
friend class boost::serialization::access;
template <class Archive> void serialize(Archive& ar, const unsigned int
version){
ar & this->x & this->y & theta;
}
};
template
orientedpoint::orientedpoint(const point<T>& p){
this->x=p.x;
this->y=p.y;
this->theta=0.;
}
/*
* SensorReading
*
*/
class Sensor{
public:
Sensor(const std::string& name="");
virtual ~Sensor();
inline std::string getName() const {return m_name;}
inline void setName(const std::string& name) {m_name=name;}
friend class boost::serialization::access;
template <class Archive> void serialize(Archive& ar, const unsigned
int version){
ar & m_name;
}
protected:
std::string m_name;
};
Sensor::Sensor(const std::string& name){
m_name=name;
}
Sensor::~Sensor(){
}
class SensorReading{
public:
SensorReading(const Sensor* s=0, double time=0);
virtual ~SensorReading();
inline double getTime() const {return m_time;}
inline void setTime(double t) {m_time=t;}
inline const Sensor* getSensor() const {return m_sensor;}
inline void print(){
cout << "(" << m_time << "," << m_sensor->getName() << ")" <<
endl;
}
friend class boost::serialization::access;
template <class Archive> void serialize(Archive& ar, const unsigned
int version){
ar & m_time & m_sensor;
}
protected:
double m_time;
const Sensor* m_sensor;
};
SensorReading::SensorReading(const Sensor* s, double t){
m_sensor=s;
m_time=t;
}
SensorReading::~SensorReading(){}
typedef orientedpoint OrientedPoint;
/*
* Particle
*
*/
struct Particle{
/**constructs a particle, given a map
@param map: the particle map
*/
//Particle(const ScanMatcherMap& map);
Particle(){};
/** @returns the weight of a particle */
inline operator double() const {return weight;}
/** @returns the pose of a particle */
inline operator OrientedPoint() const {return pose;}
/** sets the weight of a particle
@param w the weight
*/
inline void setWeight(double w) {weight=w;}
/** Display a particle */
inline void print(){
cout << endl<< "Particle: " << endl;
cout << "-----------------" << endl;
cout << "OrientedPoint pose: "; pose.print(); cout << endl;
cout << "OrientedPoint previousPose: "; previousPose.print(); cout
<< endl;
cout << "Weight: "<< weight << endl;
cout << "WeightSum: "<< weightSum << endl;
cout << "gweight: "<< gweight << endl;
cout << "previousIndex: "<< previousIndex << endl;
cout << "SensorReading: "; sr.print(); cout << endl;
}
/** The map */
//ScanMatcherMap map;
/** The pose of the robot */
OrientedPoint pose;
/** The pose of the robot at the previous time frame (used for computing
thr odometry displacements) */
OrientedPoint previousPose;
/** The weight of the particle */
double weight;
/** The cumulative weight of the particle */
double weightSum;
double gweight;
/** The index of the previous particle in the trajectory tree */
int previousIndex;
/** Entry to the trajectory tree */
//TNode* node;
//Tests
SensorReading sr;
friend class boost::serialization::access;
template <class Archive> void serialize(Archive& ar, const unsigned int
version){
ar & pose & previousPose & weight & gweight & weightSum &
previousIndex & sr;
}
};
/*
* Particle
* SaveToFile and LoadFromFile
*
*/
template <class A> void saveIntoFile(Particle& particle, const char* file){
ofstream ofile(file);
A ar(ofile);
ar << particle;
ofile.close();
}
template <class A> void loadFromFile(Particle& particle, const char* file){
ifstream ifile(file);
A ar(ifile);
ar >> particle;
ifile.close();
//return array;
}
/*
* MAIN
*
*/
int main(){
Particle p = Particle();
p.pose = OrientedPoint(point<double>(1.1,4.4));
p.previousPose = OrientedPoint(point<double>(2.1,8.4));
p.weight = 3;
p.weightSum = 8.5;
p.gweight = 12.7;
p.previousIndex = 6;
Sensor s= Sensor("Sensor Name");
p.sr = SensorReading(&s,35);
p.print();
saveIntoFile(p, "out.txt");
Particle p2 = Particle();
loadFromFile(p2, "out.txt");
p2.print();
cout << "end" << endl;
return 0;
}
