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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00031 00032 #ifndef FILTERS_REALTIME_CIRCULAR_BUFFER_H_ 00033 #define FILTERS_REALTIME_CIRCULAR_BUFFER_H_ 00034 00035 #include <stdint.h> 00036 #include <vector> 00037 00038 #include <algorithm> 00039 #include <boost/circular_buffer.hpp> 00040 00041 namespace filters 00042 { 00043 00046 template <typename T> 00047 class RealtimeCircularBuffer 00048 { 00049 private: 00050 RealtimeCircularBuffer(); 00051 00052 public: 00053 RealtimeCircularBuffer(int size, const T& default_val): 00054 counter_(0), cb_(size) 00055 { 00056 for (unsigned int i = 0; i < cb_.capacity(); i++) 00057 { 00058 cb_.push_back(default_val); 00059 } 00060 }; 00061 00062 void push_back(const T& item) 00063 { 00064 if (cb_.capacity() == 0) return; 00065 00066 if ( counter_ < cb_.size()) 00067 { 00068 cb_[counter_] = item; 00069 } 00070 else 00071 cb_.push_back(item); 00072 counter_ ++; 00073 }; 00074 00075 void push_front(const T& item) 00076 { 00077 if (cb_.capacity() == 0) return; 00078 cb_.push_front(item); 00079 counter_ ++; 00080 }; 00081 00082 void clear() { counter_ = 0;}; 00083 00084 void set_capacity(unsigned int order, const T& value); 00085 00086 T& front(){return cb_.front();}; 00087 T& back() 00088 { 00089 if (counter_ < cb_.size()) 00090 return cb_[counter_]; 00091 else 00092 return cb_.back(); 00093 }; 00094 00095 unsigned int size(){ return std::min(counter_, (unsigned int)cb_.size());}; 00096 bool empty(){return cb_.empty();}; 00097 T& at(size_t index){return cb_.at(index);}; 00098 T& operator[](size_t index){return cb_[index];} 00099 private: 00100 00101 unsigned int counter_; //<! special counter to keep track of first N times through 00102 00103 boost::circular_buffer<T> cb_; 00104 }; 00105 } //namespace filters 00106 #endif //#ifndef REALTIME_CIRCULAR_BUFFER_H_