data_queue.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_DATA_QUEUE_H
#define G2O_DATA_QUEUE_H
 
#include <map>
 
#include "g2o_types_data_api.h"
 
namespace g2o {
 
class RobotData;

class G2O_TYPES_DATA_API DataQueue {
 public:
  typedef std::map<double, RobotData*> Buffer;
 
 public:
  void add(RobotData* rd);
 
  RobotData* findClosestData(double timestamp) const;
 
  RobotData* before(double timestamp) const;
  RobotData* after(double timestamp) const;
 
  const Buffer& buffer() const { return _buffer; }
 
 protected:
  Buffer _buffer;
};
 
}  // namespace g2o
 
#endif