// 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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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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;

  /**
   * \brief a simple queue to store data and retrieve based on a timestamp
   */
  class G2O_TYPES_DATA_API DataQueue
  {
    public:
      typedef std::map<number_t, RobotData*>           Buffer;

    public:
      DataQueue();
      ~DataQueue();

      void add(RobotData* rd);

      RobotData* findClosestData(number_t timestamp) const;

      RobotData* before(number_t timestamp) const;
      RobotData* after(number_t timestamp) const;

      const Buffer& buffer() const {return _buffer;}

    protected:
      Buffer _buffer;
  };

} // end namespace

#endif
