Representations/Perception/SensorDataBuffer.h

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/** 
* @file SensorDataBuffer.h
*
* Definition of SensorDataBuffer class.
*
* @author Max Risler
*/
#ifndef __SENSORDATABUFFER_H__
#define __SENSORDATABUFFER_H__

#include "SensorData.h"

#include "Tools/Streams/InOut.h"
#include "Tools/Streams/Streamable.h"

/**
* A buffer for sensor data sets, containing all frames received at the same time.
* @author Max Risler
*/
class SensorDataBuffer
{
public:
  /** Maximum number of frames in the buffer.
  */
  enum {maxNumOfFrames = 16};

  /** Constructor */
  SensorDataBuffer();
  
  /** Number of frames in the buffer */
  int numOfFrames;

  /** The joint data frames */
  SensorData frame[maxNumOfFrames];

  /** Returns pointer to the most recent SensorData */
  const SensorData& lastFrame() const
  {
    if (numOfFrames > 0)
      return frame[numOfFrames - 1];
    else
      return frame[0];
  };
};

/**
 * Streaming operator that reads a SensorDataBuffer from a stream.
 * @param stream The stream from which is read.
 * @param sensorDataBuffer The SensorDataBuffer object.
 * @return The stream.
 */ 
In& operator>>(In& stream,SensorDataBuffer& sensorDataBuffer);
 
/**
 * Streaming operator that writes a SensorDataBuffer to a stream.
 * @param stream The stream to write on.
 * @param sensorDataBuffer The SensorDataBuffer object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const SensorDataBuffer& sensorDataBuffer);

#endif //__SENSORDATABUFFER_H__

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