Program Listing for File realtime_circular_buffer.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
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* modification, are permitted provided that the following conditions are met:
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_
#define FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_
#include <algorithm>
#include <vector>
#include "boost/circular_buffer.hpp"
namespace filters
{
template<typename T>
class RealtimeCircularBuffer
{
public:
RealtimeCircularBuffer(size_t size, const T & default_val)
: counter_(0), cb_(size)
{
for (size_t 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();
}
}
size_t size() {return std::min(counter_, 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:
RealtimeCircularBuffer();
size_t counter_;
boost::circular_buffer<T> cb_;
};
} // namespace filters
#endif // FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_