interval_intersection.hpp
Go to the documentation of this file.
00001 /**********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2009, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Willow Garage nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 #include <vector>
00037 #include <deque>
00038 
00039 #include <boost/function.hpp>
00040 #include <boost/thread/mutex.hpp>
00041 #include "calibration_msgs/Interval.h"
00042 #include "calibration_msgs/IntervalStatus.h"
00043 
00044 using namespace std;
00045 
00046 namespace interval_intersection
00047 {
00060 class IntervalIntersector {
00061 public:
00062   IntervalIntersector(boost::function<void (const calibration_msgs::Interval&)> output_callback);
00063   ~IntervalIntersector();
00064 
00065   boost::function<void (const calibration_msgs::IntervalConstPtr&)> getNewInputStream();
00066 
00067   calibration_msgs::IntervalStatus get_status();
00068 
00069 private:
00076   void inputCallback(const calibration_msgs::IntervalConstPtr& interval_ptr, size_t i);
00077   void process_queues();
00078 
00079   struct queue_stat {
00080      int count;
00081      int nil_count;
00082   };
00083 
00084   vector<deque<calibration_msgs::IntervalConstPtr> > queues;
00085   vector<boost::shared_ptr<queue_stat> > queue_stats;
00086   vector<boost::shared_ptr<boost::mutex> > mutexes;  // Protects the individual queues
00087   boost::mutex processing_mutex;  // Protects the consumption of elements from the set of queues
00088   size_t max_queue_size;  // must be greater than 0, or all messages will be dropped
00089   boost::function<void (const calibration_msgs::Interval&)> output_callback_;  // Call this function on each output interval
00090 
00091 
00092 }; // end class
00093 
00094 }


interval_intersection
Author(s): Romain Thibaux
autogenerated on Wed Aug 26 2015 10:56:16