Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef ORCA_OG_BUFFER_H
00011 #define ORCA_OG_BUFFER_H
00012 
00013 #include <map>
00014 
00015 #include <orca/ogfusion.h>
00016 //#include "ogfeature.h"
00017 
00023 namespace ogfusion{
00024 
00025 class OgBuffer
00026 {
00027 public:
00028 
00029     // What to do when we try to insert an element that's already there
00030     enum ReplacementPolicy {
00031         PolicyReplaceLikelihood, // Most recent takes precedence
00032         PolicyAddLikelihood,     // Fuse the two
00033         PolicyMaxLikelihood      // Take the maximum likelihood of occupancy
00034     };
00035 
00037 
00038     OgBuffer();
00039     ~OgBuffer();
00040 
00041     bool isEmpty() const;
00042     unsigned int size() const;
00043     void clear();
00044 
00045     orca::OgCellLikelihood& begin();
00046     orca::OgCellLikelihood& end();
00047 
00048     orca::OgCellLikelihood& insert( int ind, const orca::OgCellLikelihood &obs, ReplacementPolicy policy );
00049 
00050     void erase( const int ind ) {};
00051     void eraseFront();
00052     void eraseBack();
00053 
00054     void popFront( orca::OgCellLikelihood& obs);
00055     void popBack( orca::OgCellLikelihood& obs );
00056 
00057     void operator[] (const int ) const {};
00058 
00059     const std::map<int,orca::OgCellLikelihood> &bufferAsMap() const { return buffer_; }
00060 
00061 private:
00062 
00063 
00064     std::map<int,orca::OgCellLikelihood> buffer_;
00065 
00067     orca::OgCellLikelihood currentFeature_;
00068 
00069 };
00070 
00071 // INLINE FUNCTIONS ==================
00072 
00073 inline bool OgBuffer::isEmpty() const
00074 { return buffer_.empty(); };
00075 
00076 inline unsigned int OgBuffer::size() const
00077 { return buffer_.size(); };
00078 
00079 inline void OgBuffer::clear()
00080 { buffer_.clear(); };
00081 
00082 inline orca::OgCellLikelihood& OgBuffer::begin()
00083 { return buffer_.begin()->second; };
00084 
00085 inline orca::OgCellLikelihood& OgBuffer::end()
00086 { return buffer_.end()->second; };
00087 
00088 }
00089 #endif
ogbuffer.h
