dense_laser_assembler.h

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#ifndef DENSE_LASER_ASSEMBLER_DENSE_LASER_ASSEMBLER_H_
#define DENSE_LASER_ASSEMBLER_DENSE_LASER_ASSEMBLER_H_

#include <settlerlib/sorted_deque.h>

// Messages
#include <sensor_msgs/LaserScan.h>
#include <calibration_msgs/DenseLaserSnapshot.h>

namespace dense_laser_assembler
{

class DenseLaserAssembler
{
public:
  DenseLaserAssembler(const unsigned int cache_size = 100);

  void setCacheSize(const unsigned int cache_size);

  void add(const sensor_msgs::LaserScanConstPtr& laser_scan);

  bool assembleSnapshot(const ros::Time& start, const ros::Time& end, calibration_msgs::DenseLaserSnapshot& snapshot);

private:

  settlerlib::SortedDeque<sensor_msgs::LaserScanConstPtr> cache_;


  bool flattenScanVec(const std::vector< sensor_msgs::LaserScanConstPtr >& scans,
                      calibration_msgs::DenseLaserSnapshot& snapshot);

  bool verifyMetadata(const calibration_msgs::DenseLaserSnapshot& snapshot, const sensor_msgs::LaserScan& scan);

};

}

#endif