storage.h

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/*
 * storage.h
 *
 *  Created on: 11.06.2012
 *      Author: josh
 */

#ifndef STORAGE_H_
#define STORAGE_H_


namespace Slam  
{

  template<typename NODE>
  class Storage
  {

    int seq_nr_, seq_thr_;

    struct STORAGE
    {
      typename NODE::Ptr node_;
      int seq_nr_;
    };

    std::list<STORAGE> used_list_;

  public:

    Storage(const int thr):
      seq_nr_(0),
      seq_thr_(thr)
    {

    }

    void update(typename NODE::Ptr node)
    {
      for(std::list<STORAGE>::iterator it=used_list_.begin(); it!=used_list_.end(); it++)
      {
        if(it->node_ == node)
        {
          it->seq_nr_ = seq_nr_;
          used_list_.push_back(*it);
          used_list_.remove(it);
          return;
        }
      }

      Storage S;
      S.seq_nr_ = seq_nr_;
      S.node_ = node;

      used_list_.push_back(S);
    }

    void finish()
    {
      ++seq_nr_;
      for(std::list<STORAGE>::iterator it=used_list_.begin(); it!=used_list_.end(); it++)
      {
        if(seq_nr_-it->seq_nr_>seq_thr_)
        {
          it->node_->store();
          it->node_->remove();
        }
        else
          return;
      }
    }

  };

};


#endif /* STORAGE_H_ */