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mrpt::utils::CMemoryChunk Class Reference
[mrpt-base]

Detailed Description

A memory buffer (implements CStream) which can be itself serialized.

See also
CStream

Definition at line 27 of file CMemoryChunk.h.

#include <mrpt/utils/CMemoryChunk.h>

Inheritance diagram for mrpt::utils::CMemoryChunk:
Inheritance graph

Public Types

enum  TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
 Used in CStream::Seek. More...
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
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...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
void assignMemoryNotOwn (const void *data, const uint64_t nBytesInData)
 Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object. More...
 
void Clear ()
 Clears the memory buffer. More...
 
void changeSize (uint64_t newSize)
 Change size. This would be rarely used. Use ">>" operators for writing to stream. More...
 
uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) MRPT_OVERRIDE
 Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
 
uint64_t getTotalBytesCount () MRPT_OVERRIDE
 Returns the total size of the internal buffer. More...
 
uint64_t getPosition () MRPT_OVERRIDE
 Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. More...
 
void * getRawBufferData ()
 Method for getting a pointer to the raw stored data. More...
 
bool saveBufferToFile (const std::string &file_name)
 Saves the entire buffer to a file. More...
 
bool loadBufferFromFile (const std::string &file_name)
 Loads the entire buffer from a file *. More...
 
void setAllocBlockSize (uint64_t alloc_block_size)
 Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes) More...
 
size_t ReadBuffer (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer. More...
 
template<typename T >
size_t ReadBufferFixEndianness (T *ptr, size_t ElementCount)
 Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More...
 
virtual size_t ReadBufferImmediate (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...
 
void WriteBuffer (const void *Buffer, size_t Count)
 Writes a block of bytes to the stream from Buffer. More...
 
template<typename T >
void WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
 Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...
 
void WriteObject (const CSerializable *o)
 Writes an object to the stream. More...
 
CSerializablePtr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
void ReadObject (CSerializable *existingObj)
 Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...
 
CStream & operator<< (const CSerializablePtr &pObj)
 Write an object to a stream in the binary MRPT format. More...
 
CStream & operator<< (const CSerializable &obj)
 Write an object to a stream in the binary MRPT format. More...
 
CStream & operator>> (CSerializablePtr &pObj)
 
CStream & operator>> (CSerializable &obj)
 
template<typename STORED_TYPE , typename CAST_TO_TYPE >
void ReadAsAndCastTo (CAST_TO_TYPE &read_here)
 Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. More...
 
virtual int printf (const char *fmt,...) MRPT_printf_format_check(2
 Writes a string to the stream in a textual form. More...
 
template<typename CONTAINER_TYPE >
virtual int void printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
 Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T. More...
 
void sendMessage (const utils::CMessage &msg)
 Send a message to the device. More...
 
bool receiveMessage (utils::CMessage &msg)
 Tries to receive a message from the device. More...
 
bool getline (std::string &out_str)
 Reads from the stream until a '
' character is found ('' characters are ignored). More...
 
RTTI classes and functions
mrpt::utils::CObjectPtr 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...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

size_t Read (void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a pure virtual method responsible for reading from the stream. More...
 
size_t Write (const void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a pure virtual method responsible for writing to the stream. More...
 
void resize (uint64_t newSize)
 Resizes the internal buffer size. More...
 
template<bool EXISTING_OBJ>
void internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
 A common template code for both versions of CStream::ReadObject() More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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...
 

Protected Attributes

void_ptr_noncopy m_memory
 Internal data. More...
 
uint64_t m_size
 
uint64_t m_position
 
uint64_t m_bytesWritten
 
uint64_t m_alloc_block_size
 
bool m_read_only
 If the memory block does not belong to the object. More...
 

RTTI stuff

typedef CMemoryChunkPtr Ptr
 
typedef CMemoryChunkPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CMemoryChunk
 
static mrpt::utils::TRuntimeClassId classCMemoryChunk
 
static const mrpt::utils::TRuntimeClassId * classinfo
 
static const mrpt::utils::TRuntimeClassId * _GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassId * GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObject * duplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObject * CreateObject ()
 
static CMemoryChunkPtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

typedef CMemoryChunkPtr mrpt::utils::CMemoryChunk::ConstPtr

Definition at line 30 of file CMemoryChunk.h.

◆ Ptr

typedef CMemoryChunkPtr mrpt::utils::CMemoryChunk::Ptr

A typedef for the associated smart pointer

Definition at line 30 of file CMemoryChunk.h.

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin
inherited

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 42 of file CStream.h.

Member Function Documentation

◆ _GetBaseClass()

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

◆ assignMemoryNotOwn()

void CMemoryStream::assignMemoryNotOwn ( const void *  data,
const uint64_t  nBytesInData 
)
inherited

Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object.

After assigning a block of data with this method, the object becomes "read-only", so further attempts to change the size of the buffer will raise an exception. This method resets the write and read positions to the beginning.

Definition at line 63 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_read_only, mrpt::utils::CMemoryStream::m_size, and mrpt::utils::non_copiable_ptr_basic< T >::set().

Referenced by mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::OctetVectorToObject(), and mrpt::utils::RawStringToObject().

◆ changeSize()

void CMemoryStream::changeSize ( uint64_t  newSize)
inherited

Change size. This would be rarely used. Use ">>" operators for writing to stream.

See also
Stream

Definition at line 234 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::resize().

Referenced by mrpt::utils::CImage::readFromStream().

◆ Clear()

void CMemoryStream::Clear ( )
inherited

Clears the memory buffer.

Definition at line 203 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_read_only, mrpt::utils::CMemoryStream::m_size, and mrpt::utils::CMemoryStream::resize().

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::utils::mrpt_recv_from_zmq_buf().

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create()

static CMemoryChunkPtr mrpt::utils::CMemoryChunk::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::utils::CMemoryChunk::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::utils::CMemoryChunk::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ getline()

bool CStream::getline ( std::string &  out_str)
inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns
false on EOF or any other read error.

Definition at line 680 of file CStream.cpp.

◆ getPosition()

uint64_t CMemoryStream::getPosition ( )
virtualinherited

Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.

Implements mrpt::utils::CStream.

Definition at line 195 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::m_position.

◆ getRawBufferData()

void * CMemoryStream::getRawBufferData ( )
inherited

Method for getting a pointer to the raw stored data.

The lenght in bytes is given by getTotalBytesCount

Definition at line 224 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), and mrpt::utils::CMemoryStream::m_memory.

Referenced by mrpt::obs::CObservationGPS::dumpToConsole(), mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::CImage::readFromStream(), mrpt::utils::StringToObject(), and mrpt::utils::CImage::writeToStream().

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ getTotalBytesCount()

uint64_t CMemoryStream::getTotalBytesCount ( )
virtualinherited

Returns the total size of the internal buffer.

Implements mrpt::utils::CStream.

Definition at line 187 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::m_bytesWritten.

Referenced by mrpt::obs::CObservationGPS::dumpToConsole(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::utils::StringToObject(), and mrpt::utils::CImage::writeToStream().

◆ internal_ReadObject()

template<bool EXISTING_OBJ>
void CStream::internal_ReadObject ( CSerializablePtr &  newObj,
CSerializable *  existingObj = NULL 
)
protectedinherited

A common template code for both versions of CStream::ReadObject()

  • EXISTING_OBJ=true -> read in the object passed as argument
  • EXISTING_OBJ=false -> build a new object and return it

Definition at line 357 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), mrpt::utils::registerAllPendingClasses(), SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, THROW_TYPED_EXCEPTION, and version.

◆ loadBufferFromFile()

bool CMemoryStream::loadBufferFromFile ( const std::string &  file_name)
inherited

Loads the entire buffer from a file *.

Returns
true on success, false on error

Definition at line 259 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::Clear(), mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CFileInputStream::getTotalBytesCount(), mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CStream::ReadBuffer(), and mrpt::utils::CMemoryStream::resize().

Referenced by mrpt::opengl::C3DSScene::writeToStream(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

◆ operator delete() [1/3]

void mrpt::utils::CMemoryChunk::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator delete() [2/3]

void mrpt::utils::CMemoryChunk::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator delete() [3/3]

void mrpt::utils::CMemoryChunk::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator delete[]()

void mrpt::utils::CMemoryChunk::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator new() [1/3]

static void* mrpt::utils::CMemoryChunk::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 30 of file CMemoryChunk.h.

◆ operator new() [2/3]

void* mrpt::utils::CMemoryChunk::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator new() [3/3]

void* mrpt::utils::CMemoryChunk::operator new ( size_t  size)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator new[]()

void* mrpt::utils::CMemoryChunk::operator new[] ( size_t  size)
inline

Definition at line 30 of file CMemoryChunk.h.

◆ operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializablePtr &  pObj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 211 of file CStream.cpp.

◆ operator<<() [2/2]

CStream & CStream::operator<< ( const CSerializable &  obj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 218 of file CStream.cpp.

◆ operator>>() [1/2]

CStream & CStream::operator>> ( CSerializablePtr &  pObj)
inherited

Definition at line 224 of file CStream.cpp.

◆ operator>>() [2/2]

CStream & CStream::operator>> ( CSerializable &  obj)
inherited

Definition at line 230 of file CStream.cpp.

◆ printf()

int CStream::printf ( const char *  fmt,
  ... 
)
virtualinherited

Writes a string to the stream in a textual form.

See also
CStdOutStream

Definition at line 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), mrpt::synch::CCriticalSection::enter(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::synch::CCriticalSection::leave(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< 3 >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveToTextFile().

◆ printf_vector()

template<typename CONTAINER_TYPE >
virtual int void mrpt::utils::CStream::printf_vector ( const char *  fmt,
const CONTAINER_TYPE &  V,
char  separator = ',' 
)
inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters
CONTAINER_TYPEcan be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ Read()

size_t CMemoryStream::Read ( void *  Buffer,
size_t  Count 
)
protectedvirtualinherited

Introduces a pure virtual method responsible for reading from the stream.

Implements mrpt::utils::CStream.

Definition at line 118 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_size, mrpt::system::os::memcpy(), and min.

◆ ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE &  read_here)
inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 194 of file CStream.h.

◆ ReadBuffer()

size_t CStream::ReadBuffer ( void *  Buffer,
size_t  Count 
)
inherited

Reads a block of bytes from the stream into Buffer.

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
Returns
The amound of bytes actually read.
Note
This method is endianness-dependent.
See also
ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 45 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

◆ ReadBufferFixEndianness()

template<typename T >
size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr,
size_t  ElementCount 
)
inlineinherited

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters
ElementCountThe number of elements (not bytes) to read.
ptrA pointer to the first output element in an array (or std::vector<>, etc...).
Returns
The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
uint32_t N;
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
See also
ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), and triangle_readFromStream().

◆ ReadBufferImmediate()

virtual size_t mrpt::utils::CStream::ReadBufferImmediate ( void *  Buffer,
size_t  Count 
)
inlinevirtualinherited

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

Note that this method will fallback to ReadBuffer() in most CStream classes but in some hardware-related classes.

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 113 of file CStream.h.

◆ readFromStream()

void CMemoryChunk::readFromStream ( mrpt::utils::CStream &  in,
int  version 
)
protectedvirtual

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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 43 of file CMemoryChunk.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::utils::CMemoryStream::resize(), and version.

Referenced by mrpt::maps::CColouredOctoMap::readFromStream(), and mrpt::maps::COctoMap::readFromStream().

◆ ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )
inherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 486 of file CStream.cpp.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

◆ ReadObject() [2/2]

void CStream::ReadObject ( CSerializable *  existingObj)
inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions
std::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 498 of file CStream.cpp.

◆ receiveMessage()

bool CStream::receiveMessage ( utils::CMessage &  msg)
inherited

Tries to receive a message from the device.

Exceptions
std::exceptionOn communication errors
Returns
True if successful, false if there is no new data from the device (but communications seem to work fine)
See also
The frame format is described in sendMessage()

Definition at line 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

◆ resize()

void CMemoryStream::resize ( uint64_t  newSize)
protectedinherited

Resizes the internal buffer size.

Definition at line 88 of file CMemoryStream.cpp.

References ASSERT_, mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_read_only, mrpt::utils::CMemoryStream::m_size, mrpt::utils::non_copiable_ptr_basic< T >::set(), and THROW_EXCEPTION.

Referenced by mrpt::utils::CMemoryStream::changeSize(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::CMemoryStream(), mrpt::utils::CMemoryStream::loadBufferFromFile(), readFromStream(), mrpt::utils::CMemoryStream::Write(), and mrpt::utils::CMemoryStream::~CMemoryStream().

◆ saveBufferToFile()

bool CMemoryStream::saveBufferToFile ( const std::string &  file_name)
inherited

Saves the entire buffer to a file.

Returns
true on success, false on error

Definition at line 242 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CMemoryStream::getTotalBytesCount(), mrpt::utils::CMemoryStream::m_memory, and mrpt::utils::CStream::WriteBuffer().

◆ Seek()

uint64_t CMemoryStream::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

  • sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
  • sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
  • sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
    Returns
    Seek returns the new value of the Position property.

Implements mrpt::utils::CStream.

Definition at line 164 of file CMemoryStream.cpp.

References mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_size, mrpt::utils::CStream::sFromBeginning, mrpt::utils::CStream::sFromCurrent, and mrpt::utils::CStream::sFromEnd.

Referenced by mrpt::obs::gnss::gnss_message_ptr::gnss_message_ptr(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::obs::gnss::gnss_message_ptr::operator=(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::CImage::readFromStream(), mrpt::utils::StringToObject(), TEST(), and GraphTester< my_graph_t >::test_graph_bin_serialization().

◆ sendMessage()

void CStream::sendMessage ( const utils::CMessage &  msg)
inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
<START_FLAG> = 0x69
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
<START_FLAG> = 0x79
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 5
Exceptions
std::exceptionOn communication errors

Definition at line 556 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

◆ setAllocBlockSize()

void mrpt::utils::CMemoryStream::setAllocBlockSize ( uint64_t  alloc_block_size)
inlineinherited

Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes)

Definition at line 73 of file CMemoryStream.h.

References ASSERT_.

◆ Write()

size_t CMemoryStream::Write ( const void *  Buffer,
size_t  Count 
)
protectedvirtualinherited

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::utils::CStream.

Definition at line 137 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CMemoryStream::m_alloc_block_size, mrpt::utils::CMemoryStream::m_bytesWritten, mrpt::utils::CMemoryStream::m_memory, mrpt::utils::CMemoryStream::m_position, mrpt::utils::CMemoryStream::m_size, mrpt::system::os::memcpy(), and mrpt::utils::CMemoryStream::resize().

◆ WriteBuffer()

void CStream::WriteBuffer ( const void *  Buffer,
size_t  Count 
)
inherited

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::utils::StringToObject(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ WriteBufferFixEndianness()

template<typename T >
void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr,
size_t  ElementCount 
)
inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters
ElementCountThe number of elements (not bytes) to write.
ptrA pointer to the first input element in an array (or std::vector<>, etc...). Example of usage:
vector<float> vec = ...
uint32_t N = vec.size();
s << N
if (N)
s.WriteBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error
See also
WriteBuffer

Definition at line 139 of file CStream.h.

Referenced by triangle_writeToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

◆ WriteObject()

void CStream::WriteObject ( const CSerializable *  o)
inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, version, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), and mrpt::utils::CMessage::serializeObject().

◆ writeToMatlab()

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

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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CMemoryChunk::writeToStream ( mrpt::utils::CStream &  out,
int *  getVersion 
) const
protectedvirtual

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
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 24 of file CMemoryChunk.cpp.

References ASSERT_.

Member Data Documentation

◆ _init_CMemoryChunk

mrpt::utils::CLASSINIT mrpt::utils::CMemoryChunk::_init_CMemoryChunk
staticprotected

Definition at line 30 of file CMemoryChunk.h.

◆ classCMemoryChunk

mrpt::utils::TRuntimeClassId mrpt::utils::CMemoryChunk::classCMemoryChunk
static

Definition at line 30 of file CMemoryChunk.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 118 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::utils::CMemoryChunk::classinfo
static

Definition at line 30 of file CMemoryChunk.h.

◆ m_alloc_block_size

uint64_t mrpt::utils::CMemoryStream::m_alloc_block_size
protectedinherited

Definition at line 35 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::Write().

◆ m_bytesWritten

uint64_t mrpt::utils::CMemoryStream::m_bytesWritten
protectedinherited

Definition at line 34 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::CMemoryStream(), mrpt::utils::CMemoryStream::getTotalBytesCount(), mrpt::utils::CMemoryStream::loadBufferFromFile(), readFromStream(), mrpt::utils::CMemoryStream::resize(), mrpt::utils::CMemoryStream::Seek(), and mrpt::utils::CMemoryStream::Write().

◆ m_memory

void_ptr_noncopy mrpt::utils::CMemoryStream::m_memory
protectedinherited

Internal data.

Definition at line 33 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::CMemoryStream(), mrpt::utils::CMemoryStream::getRawBufferData(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::utils::CMemoryStream::Read(), readFromStream(), mrpt::utils::CMemoryStream::resize(), mrpt::utils::CMemoryStream::saveBufferToFile(), and mrpt::utils::CMemoryStream::Write().

◆ m_position

uint64_t mrpt::utils::CMemoryStream::m_position
protectedinherited

Definition at line 34 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::getPosition(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::utils::CMemoryStream::Read(), readFromStream(), mrpt::utils::CMemoryStream::resize(), mrpt::utils::CMemoryStream::Seek(), and mrpt::utils::CMemoryStream::Write().

◆ m_read_only

bool mrpt::utils::CMemoryStream::m_read_only
protectedinherited

If the memory block does not belong to the object.

Definition at line 36 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::resize(), and mrpt::utils::CMemoryStream::~CMemoryStream().

◆ m_size

uint64_t mrpt::utils::CMemoryStream::m_size
protectedinherited

Definition at line 34 of file CMemoryStream.h.

Referenced by mrpt::utils::CMemoryStream::assignMemoryNotOwn(), mrpt::utils::CMemoryStream::Clear(), mrpt::utils::CMemoryStream::Read(), mrpt::utils::CMemoryStream::resize(), mrpt::utils::CMemoryStream::Seek(), and mrpt::utils::CMemoryStream::Write().



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