interval_intersection: interval_intersection.hpp Source File

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00035 
00036 #include <vector>
00037 #include <deque>
00038 
00039 #include <boost/function.hpp>
00040 #include <boost/thread/mutex.hpp>
00041 #include "calibration_msgs/Interval.h"
00042 
00043 using namespace std;
00044 
00045 namespace interval_intersection
00046 {
00057 class IntervalIntersector {
00058 public:
00059   IntervalIntersector(boost::function<void (const calibration_msgs::Interval&)> output_callback);
00060   ~IntervalIntersector();
00061 
00062   boost::function<void (const calibration_msgs::IntervalConstPtr&)> getNewInputStream();
00063 
00064 private:
00071   void inputCallback(const calibration_msgs::IntervalConstPtr& interval_ptr, size_t i);
00072   void process_queues();
00073 
00074   vector<deque<calibration_msgs::IntervalConstPtr> > queues;
00075   vector<boost::shared_ptr<boost::mutex> > mutexes;  // Protects the individual queues
00076   boost::mutex processing_mutex;  // Protects the consumption of elements from the set of queues
00077   size_t max_queue_size;  // must be greater than 0, or all messages will be dropped
00078   boost::function<void (const calibration_msgs::Interval&)> output_callback_;  // Call this function on each output interval
00079 
00080 
00081 }; // end class
00082 
00083 }