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; }