dataset.py

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PKG = 'rxbag_plugins'
import roslib; roslib.load_manifest(PKG)

import bisect

class DataSet(object):
    def __init__(self):
        self._points = []
        
        self._num_points = 0

        self._min_x = None
        self._max_x = None
        self._min_y = None
        self._max_y = None

    @property
    def points(self): return self._points

    @property
    def num_points(self): return self._num_points

    @property
    def min_x(self): return self._min_x

    @property
    def max_x(self): return self._max_x

    @property
    def min_y(self): return self._min_y

    @property
    def max_y(self): return self._max_y

    def add(self, x, y):
        pt = (x, y)

        index = bisect.bisect_right(self._points, pt)

        self._points.insert(index, pt)

        self._num_points += 1

        if self._num_points == 1:
            self._min_x = x
            self._max_x = x
            self._min_y = y
            self._max_y = y
        else:
            if x < self._min_x:
                self._min_x = x
            elif x > self._max_x:
                self._max_x = x
            if y < self._min_y:
                self._min_y = y
            elif y > self._max_y:
                self._max_y = y

    def set(self, pts):
        self._points = pts
        
        self._num_points = len(self._points)

        if self._num_points == 0:
            self._min_x = None
            self._max_x = None
            self._min_y = None
            self._max_y = None
        else:
            xs = [x for x, y in pts]
            ys = [y for x, y in pts]
            
            self._min_x = min(xs)
            self._max_x = max(xs)
            self._min_y = min(ys)
            self._max_y = max(ys)