void ompl::base::PlannerDataStorage::store(const PlannerData &pd, std::ostream &out)
{
const SpaceInformationPtr &si = pd.getSpaceInformation();
if (!out.good())
{
OMPL_ERROR("Failed to store PlannerData: output stream is invalid");
return;
}
if (!si)
{
OMPL_ERROR("Failed to store PlannerData: SpaceInformation is invalid");
return;
}
try
{
boost::archive::binary_oarchive oa(out);
// Writing the header
Header h;
h.marker = OMPL_PLANNER_DATA_ARCHIVE_MARKER;
h.vertex_count = pd.numVertices();
h.edge_count = pd.numEdges();
si->getStateSpace()->computeSignature(h.signature);
oa << h;
storeVertices(pd, oa);
storeEdges(pd, oa);
}
catch (boost::archive::archive_exception &ae)
{
OMPL_ERROR("Failed to store PlannerData: %s", ae.what());
}
}
Obj::Obj(const std::string &f) {
std::ifstream file;
file.open(f);
filename = f;
std::string str;
while(!file.eof()) {
std::getline(file, str);
if(str[0] == 'v')
break;
}
int v = 0;
while(str[0] == 'v') {
int i = 0;
while(true) {
while(str[i] == ' ')
i++;
i += 2;
int j = i, k = i;
while(str[i] != ' ') {
i++;
k = i;
}
_x[v] = atof(str.substr(j, k - j).c_str());
while(str[i] == ' ' ) {
i++;
}
int q = i, w = i;
while(str[i] != ' ' ) {
i++;
w = i;
}
_y[v] = atof(str.substr(q, w - q).c_str());
while(str[i] == ' ' ) {
i++;
}
int a = i, s = i;
while(str[i] != ' ' ) {
i++;
s = i;
}
_z[v] = atof(str.substr(a, s - a).c_str());
break;
}
v++;
getline(file, str);
}
file.close();
storeVertices();
storeMap();
}
/* set up vertices and triangles*/
void init(void)
{
glClearColor (0.0, 0.0, 0.0, 0.0);
glShadeModel (GL_SMOOTH);
glEnable(GL_DEPTH_TEST); /* don't show hidden surfaces */
glEnable(GL_LIGHTING); /* enable lighting explicitly */
glEnable(GL_LIGHT0); /* enable light source-1 */
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE); /* use two side lighting*/
/* set up all the vertices and its normals, and triangles */
storeVertices();
storeTriangles();
initVertNormals();
addTri2VertNormals();
normlizeVertNormals();
/* use array vertex */
glEnableClientState (GL_VERTEX_ARRAY);
glEnableClientState (GL_NORMAL_ARRAY);
glVertexPointer (3, GL_FLOAT, 0, v);
glNormalPointer(GL_FLOAT, 0, vn);
}
