.. _program_listing_file_include_tf2_time_cache.h:

Program Listing for File time_cache.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_time_cache.h>` (``include/tf2/time_cache.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2008, Willow Garage, Inc. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   #ifndef TF2__TIME_CACHE_H_
   #define TF2__TIME_CACHE_H_
   
   #include <chrono>
   #include <memory>
   #include <list>
   #include <sstream>
   #include <string>
   #include <utility>
   
   #include "tf2/visibility_control.h"
   #include "tf2/transform_storage.h"
   #include "tf2/exceptions.h"
   
   namespace tf2
   {
   typedef std::pair<tf2::TimePoint, tf2::CompactFrameID> P_TimeAndFrameID;
   
   class TimeCacheInterface
   {
   public:
     TF2_PUBLIC
     virtual ~TimeCacheInterface() = default;
   
     TF2_PUBLIC
     virtual bool getData(
       tf2::TimePoint time, tf2::TransformStorage & data_out,
       std::string * error_str = 0, TF2Error * error_code = 0) = 0;
   
     TF2_PUBLIC
     virtual bool insertData(const tf2::TransformStorage & new_data) = 0;
   
     TF2_PUBLIC
     virtual void clearList() = 0;
   
     TF2_PUBLIC
     virtual CompactFrameID getParent(
       tf2::TimePoint time, std::string * error_str = 0, TF2Error * error_code = 0) = 0;
   
     TF2_PUBLIC
     virtual P_TimeAndFrameID getLatestTimeAndParent() = 0;
   
   
     TF2_PUBLIC
     virtual unsigned int getListLength() = 0;
   
     TF2_PUBLIC
     virtual tf2::TimePoint getLatestTimestamp() = 0;
   
     TF2_PUBLIC
     virtual tf2::TimePoint getOldestTimestamp() = 0;
   };
   
   using TimeCacheInterfacePtr = std::shared_ptr<TimeCacheInterface>;
   
   constexpr tf2::Duration TIMECACHE_DEFAULT_MAX_STORAGE_TIME = std::chrono::seconds(10);
   
   class TimeCache : public TimeCacheInterface
   {
   public:
     TF2_PUBLIC
     static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000;
     TF2_PUBLIC
     explicit TimeCache(tf2::Duration max_storage_time = TIMECACHE_DEFAULT_MAX_STORAGE_TIME);
   
   
     TF2_PUBLIC
     virtual bool getData(
       tf2::TimePoint time, tf2::TransformStorage & data_out,
       std::string * error_str = 0, TF2Error * error_code = 0);
     TF2_PUBLIC
     virtual bool insertData(const tf2::TransformStorage & new_data);
     TF2_PUBLIC
     virtual void clearList();
     TF2_PUBLIC
     virtual tf2::CompactFrameID getParent(
       tf2::TimePoint time, std::string * error_str = 0, TF2Error * error_code = 0);
     TF2_PUBLIC
     virtual P_TimeAndFrameID getLatestTimeAndParent();
   
     TF2_PUBLIC
     virtual unsigned int getListLength();
     TF2_PUBLIC
     virtual TimePoint getLatestTimestamp();
     TF2_PUBLIC
     virtual TimePoint getOldestTimestamp();
   
   private:
     typedef std::list<TransformStorage> L_TransformStorage;
     L_TransformStorage storage_;
   
     tf2::Duration max_storage_time_;
   
   
     // A helper function for getData
     // Assumes storage is already locked for it
     inline uint8_t findClosest(
       tf2::TransformStorage * & one, TransformStorage * & two,
       tf2::TimePoint target_time, std::string * error_str = 0, TF2Error * error_code = 0);
   
     inline void interpolate(
       const tf2::TransformStorage & one, const tf2::TransformStorage & two,
       tf2::TimePoint time, tf2::TransformStorage & output);
   
     void pruneList();
   };
   
   class StaticCache : public TimeCacheInterface
   {
   public:
     TF2_PUBLIC
     virtual bool getData(
       TimePoint time, TransformStorage & data_out,
       std::string * error_str = 0, TF2Error * error_code = 0);
     // returns false if data unavailable (should be thrown as lookup exception
     TF2_PUBLIC
     virtual bool insertData(const TransformStorage & new_data);
     TF2_PUBLIC
     virtual void clearList();
     TF2_PUBLIC
     virtual CompactFrameID getParent(
       TimePoint time, std::string * error_str = 0, TF2Error * error_code = 0);
     TF2_PUBLIC
     virtual P_TimeAndFrameID getLatestTimeAndParent();
   
     TF2_PUBLIC
     virtual unsigned int getListLength();
     TF2_PUBLIC
     virtual TimePoint getLatestTimestamp();
     TF2_PUBLIC
     virtual TimePoint getOldestTimestamp();
   
   private:
     TransformStorage storage_;
   };
   }  // namespace tf2
   #endif  // TF2__TIME_CACHE_H_