ArRangeBuffer.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 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:
  ArRangeBuffer(int size);
  virtual ~ArRangeBuffer();
  size_t getSize(void) const;
  void setSize(size_t size);
  ArPose getPoseTaken() const;
  void setPoseTaken(ArPose p);
  ArPose getEncoderPoseTaken() const;
  void setEncoderPoseTaken(ArPose p);
  void addReading(double x, double y);  
  void beginInvalidationSweep(void);
  void invalidateReading(std::list<ArPoseWithTime*>::iterator readingIt);
  void endInvalidationSweep(void);
#ifndef SWIG

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

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

  double getClosestPolar(double startAngle, double endAngle, 
                                  ArPose position, unsigned int maxRange,
                                  double *angle = NULL) const;
  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;
  void applyTransform(ArTransform trans);
  void clear(void);
  void clearOlderThan(int milliSeconds);
  void clearOlderThanSeconds(int seconds);
  void reset(void);
  void beginRedoBuffer(void);
  void redoReading(double x, double y);   
  void endRedoBuffer(void);
  std::vector<ArPoseWithTime> *getBufferAsVector(void);
  static double getClosestPolarInList(
          double startAngle, double endAngle, ArPose position, 
          unsigned int maxRange, double *angle, 
          const std::list<ArPoseWithTime *> *buffer);
  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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