data_queue.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// 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:
      DataQueue();
      ~DataQueue();

      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;
  };

} // end namespace

#endif