surface_history_recorder.h

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#ifndef _SURFACE_PERCEPTION_SURFACE_HISTORY_RECORDER_H_
#define _SURFACE_PERCEPTION_SURFACE_HISTORY_RECORDER_H_

#include <ctime>
#include <map>

#include "pcl/PointIndices.h"
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"

namespace surface_perception {
class SurfaceHistoryRecorder {
 public:
  void Record(size_t id, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& cloud,
              const pcl::PointIndices::Ptr& indices, size_t iteration);

  void Update(size_t old_id, size_t new_id,
              const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& cloud,
              const pcl::PointIndices::Ptr& indices, size_t iteration);

  void GetCloudHistory(
      size_t id, pcl::PointCloud<pcl::PointXYZRGB>::Ptr output_cloud) const;

  void GetClock(size_t id, clock_t* clock_ptr) const;

  void GetIteration(size_t id, size_t* iteration_ptr) const;

 private:
  std::map<size_t, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> cloud_history_;
  std::map<size_t, clock_t> time_history_;
  std::map<size_t, size_t> iteration_history_;
};
}  // namespace surface_perception

#endif  // _SURFACE_PERCEPTION_SURFACE_HISTORY_RECORDER_H_