feature_history.cpp

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#include "ccny_rgbd/structures/feature_history.h"

namespace ccny_rgbd {
  
FeatureHistory::FeatureHistory():
  index_(0),
  capacity_(5)
{

}

void FeatureHistory::add(const PointCloudFeature& cloud)
{
  if (history_.size() < capacity_)
  {
   history_.push_back(cloud);

   ++index_;
   if (index_ >= capacity_) index_ = 0;
  }
  else if (capacity_ > 0)
  {
   history_[index_] = cloud;

   ++index_;
   if (index_ >= capacity_) index_ = 0;
  }
}

void FeatureHistory::getAll(PointCloudFeature& cloud)
{
  for (unsigned int i=0; i < history_.size(); ++i)
    cloud += history_[i];
}

void FeatureHistory::reset()
{
  history_.clear();
  index_ = 0;
}

} // namespace ccny_rgbd