Detailed Description

The virtual base class which provides a unified interface for all persistent objects in MRPT.

Many important properties of this class are inherited from mrpt::utils::CObject. See that class for more details. Refer to the tutorial about serialization online.

See also: CStream

Definition at line 44 of file CSerializable.h.

#include <mrpt/utils/CSerializable.h>

Inherits mrpt::utils::CObject.

Inherited by mrpt::detectors::CDetectableObject, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::hmtslam::CLSLAMParticleData, mrpt::hmtslam::CRobotPosesGraph, mrpt::hmtslam::THypothesisIDSet, mrpt::kinematics::CKinematicChain, mrpt::kinematics::CVehicleVelCmd, mrpt::maps::CLandmark, mrpt::maps::CMetricMap, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CRandomFieldGridMap3D, mrpt::maps::CRBPFParticleData, mrpt::maps::CSimpleMap, mrpt::maps::TMapGenericParams, mrpt::math::CMatrix, mrpt::math::CMatrixB, mrpt::math::CMatrixD, mrpt::math::CPolygon, mrpt::math::CSplineInterpolator1D, mrpt::nav::CAbstractHolonomicReactiveMethod, mrpt::nav::CHolonomicLogFileRecord, mrpt::nav::CLogFileRecord, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::obs::CAction, mrpt::obs::CActionCollection, mrpt::obs::CObservation, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::COpenGLScene, mrpt::opengl::COpenGLViewport, mrpt::opengl::CRenderizable, mrpt::pbmap::PbMap, mrpt::pbmap::Plane, mrpt::poses::CPoint2D, mrpt::poses::CPoint2DPDF, mrpt::poses::CPoint3D, mrpt::poses::CPointPDF, mrpt::poses::CPose2D, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3D, mrpt::poses::CPose3DInterpolator, mrpt::poses::CPose3DPDF, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DQuatPDF, mrpt::poses::CPose3DRotVec, mrpt::poses::CPosePDF, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::poses::TSimple3DPoint, mrpt::slam::CIncrementalMapPartitioner, mrpt::utils::CImage, mrpt::utils::CMemoryChunk, mrpt::utils::CMHPropertiesValuesList, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabase, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CStringList, mrpt::utils::CTypeSelector, mrpt::utils::TCamera, mrpt::utils::TStereoCamera, and mrpt::vision::CFeature.

Public Member Functions
virtual	~CSerializable ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
using	Ptr = std::shared_ptr< CSerializable >

using	ConstPtr = std::shared_ptr< const CSerializable >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

◆ ConstPtr

using mrpt::utils::CSerializable::ConstPtr = std::shared_ptr<const CSerializable >

Definition at line 47 of file CSerializable.h.

◆ Ptr

using mrpt::utils::CSerializable::Ptr = std::shared_ptr< CSerializable >

Definition at line 47 of file CSerializable.h.

Constructor & Destructor Documentation

◆ ~CSerializable()

virtual mrpt::utils::CSerializable::~CSerializable ( )

inlinevirtual

Definition at line 49 of file CSerializable.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::utils::CSerializable::_GetBaseClass ( )

staticprotected

◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::utils::CSerializable::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CObject.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::WriteObject().

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◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::utils::CSerializable::GetRuntimeClassIdStatic ( )

static

◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtual

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 47 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::runtimeClassId

staticprotected

Definition at line 47 of file CSerializable.h.

Detailed Description

Public Member Functions

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ~CSerializable()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ readFromStream()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ mrpt::utils::CStream

Member Data Documentation

◆ runtimeClassId