DifferenceBasedBuffer.hpp

 
#pragma once
 
#include <deque>
#include <utility>
 
template <typename T, typename C>
using StampedDeque = std::deque<std::pair<C, T>>;
 
template <typename T, typename C = int, typename D = C>
class DifferenceBasedBuffer : public StampedDeque<T, C> {
 public:
  DifferenceBasedBuffer(const D& diff = D(0, 0));
 
  void setDifference(const D& diff);
 
  void push_back(const T& val, const C& stamp = C());
 
  void push_front(const T& val, const C& stamp = C());
 
  void insert(typename StampedDeque<T, C>::const_iterator position, const T& val, const C& stamp = C());
 
  T& operator[](const int n);
 
  const T& operator[](const int n) const;
 
  T& at(const int n);
 
  const T& at(const int n) const;
 
  std::pair<C, T>& get(const int n);
 
  const std::pair<C, T>& get(const int n) const;
 
  T& front();
 
  const T& front() const;
 
  T& back();
 
  const T& back() const;
 
 protected:
  void update(const C& stamp);
 
  D diff_;
};
 
#include "event_detector/DifferenceBasedBuffer.tpp"