step_queue.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_STEP_QUEUE_H__
#define VIGIR_STEP_QUEUE_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
#include <vigir_footstep_planning_msgs/step_plan.h>



namespace vigir_step_control
{
using namespace vigir_footstep_planning;

typedef boost::shared_mutex Mutex;
typedef boost::shared_lock<Mutex> SharedLock;
typedef boost::unique_lock<Mutex> UniqueLock;
typedef boost::upgrade_lock<Mutex> UpgradeLock;
typedef boost::upgrade_to_unique_lock<Mutex> UpgradeToUniqueLock;



class StepQueue
{
public:
  // typedefs
  typedef boost::shared_ptr<StepQueue> Ptr;
  typedef boost::shared_ptr<const StepQueue> ConstPtr;

  StepQueue();
  virtual ~StepQueue();

  void reset();

  bool empty() const;

  size_t size() const;

  bool isDirty() const;

  void clearDirtyFlag();

  bool updateStepPlan(const msgs::StepPlan& step_plan, int min_step_index = 0);

  bool getStep(msgs::Step& step, unsigned int step_index = 0u);

  bool getStepAt(msgs::Step& step, unsigned int position = 0u);

  std::vector<msgs::Step> getSteps(unsigned int start_index, unsigned int end_index) const;

  void removeStep(unsigned int step_index);

  void removeSteps(unsigned int from_step_index, int to_step_index = -1);

  bool popStep(msgs::Step& step);
  bool popStep();

  int firstStepIndex() const;

  int lastStepIndex() const;

protected:
  StepPlan step_plan_;

  bool is_dirty_;

  // mutex to ensure thread safeness
  mutable Mutex queue_mutex_;
};
}

#endif