realtime_circular_buffer.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef FILTERS_REALTIME_CIRCULAR_BUFFER_H_
#define FILTERS_REALTIME_CIRCULAR_BUFFER_H_

#include <stdint.h>
#include <vector>

#include <algorithm>
#include <boost/circular_buffer.hpp>

namespace filters
{

template <typename T>
class RealtimeCircularBuffer
{
private:
  RealtimeCircularBuffer();

public:
  RealtimeCircularBuffer(int size, const T& default_val):
    counter_(0), cb_(size)
  {
    for (unsigned int i = 0; i < cb_.capacity(); i++)
    {
      cb_.push_back(default_val);
    }
  };

  void push_back(const T& item)
  {
    if (cb_.capacity() == 0) return;

    if ( counter_ < cb_.size()) 
    {
      cb_[counter_] = item; 
    }
    else 
      cb_.push_back(item);
    counter_ ++;
  };
  
  void push_front(const T& item)
  {
    if (cb_.capacity() == 0) return;
    cb_.push_front(item);
    counter_ ++;
  };
  
  void clear() { counter_ = 0;};

  void set_capacity(unsigned int order, const T& value);
  
  T& front(){return cb_.front();};
  T& back()
  {
    if (counter_ < cb_.size()) 
      return cb_[counter_]; 
    else 
      return cb_.back();
  };
  
  unsigned int size(){  return std::min(counter_, (unsigned int)cb_.size());};
  bool empty(){return cb_.empty();};
  T& at(size_t index){return cb_.at(index);};
  T& operator[](size_t index){return cb_[index];}
private:

  unsigned int counter_; //<! special counter to keep track of first N times through

  boost::circular_buffer<T> cb_;
};
} //namespace filters
#endif //#ifndef REALTIME_CIRCULAR_BUFFER_H_