ArRangeBuffer.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARRANGEBUFFER_H
#define ARRANGEBUFFER_H

#include "ariaUtil.h"
#include "ariaTypedefs.h"
#include "ArTransform.h"
#include <list>
#include <vector>

class ArRangeBuffer
{
public:
  AREXPORT ArRangeBuffer(int size);
  AREXPORT virtual ~ArRangeBuffer();
  AREXPORT size_t getSize(void) const;
  AREXPORT void setSize(size_t size);
  AREXPORT ArPose getPoseTaken() const;
  AREXPORT void setPoseTaken(ArPose p);
  AREXPORT ArPose getEncoderPoseTaken() const;
  AREXPORT void setEncoderPoseTaken(ArPose p);
  AREXPORT void addReading(double x, double y);  
  AREXPORT void beginInvalidationSweep(void);
  AREXPORT void invalidateReading(std::list<ArPoseWithTime*>::iterator readingIt);
  AREXPORT void endInvalidationSweep(void);
#ifndef SWIG

  AREXPORT const std::list<ArPoseWithTime *> *getBuffer(void) const;
#endif

  AREXPORT std::list<ArPoseWithTime *> *getBuffer(void);

  AREXPORT double getClosestPolar(double startAngle, double endAngle, 
                  ArPose position, unsigned int maxRange,
                  double *angle = NULL) const;
  AREXPORT double getClosestBox(double x1, double y1, double x2, double y2,
                ArPose position, unsigned int maxRange, 
                ArPose *readingPos = NULL,
                ArPose targetPose = ArPose(0, 0, 0)) const;
  AREXPORT void applyTransform(ArTransform trans);
  AREXPORT void clear(void);
  AREXPORT void clearOlderThan(int milliSeconds);
  AREXPORT void clearOlderThanSeconds(int seconds);
  AREXPORT void reset(void);
  AREXPORT void beginRedoBuffer(void);
  AREXPORT void redoReading(double x, double y);   
  AREXPORT void endRedoBuffer(void);
  AREXPORT std::vector<ArPoseWithTime> *getBufferAsVector(void);
  AREXPORT static double getClosestPolarInList(
      double startAngle, double endAngle, ArPose position, 
      unsigned int maxRange, double *angle, 
      const std::list<ArPoseWithTime *> *buffer);
  AREXPORT static double getClosestBoxInList(
      double x1, double y1, double x2, double y2, ArPose position, 
      unsigned int maxRange, ArPose *readingPos, 
      ArPose targetPose, const std::list<ArPoseWithTime *> *buffer);
protected:
  std::vector<ArPoseWithTime> myVector;
  ArPose myBufferPose;      // where the robot was when readings were acquired
  ArPose myEncoderBufferPose;       // where the robot was when readings were acquired

  std::list<ArPoseWithTime *> myBuffer;
  std::list<ArPoseWithTime *> myInvalidBuffer;
  std::list<std::list<ArPoseWithTime *>::iterator > myInvalidSweepList;
  std::list<std::list<ArPoseWithTime *>::iterator >::iterator myInvalidIt;
  std::list<ArPoseWithTime *>::iterator myRedoIt;
  int myNumRedone;
  bool myHitEnd;
  
  size_t mySize;
  std::list<ArPoseWithTime *>::reverse_iterator myRevIterator;
  std::list<ArPoseWithTime *>::iterator myIterator;
  
  ArPoseWithTime * myReading;
};

#endif // ARRANGEBUFFER_H

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