From 01ae631eab583be7a2ea6b0b57e81da85081b855 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Tue, 20 Feb 2018 09:27:33 +0100
Subject: [PATCH] add comments to KFPackBuffer class
---
src/processor_base.h | 41 +++++++++++++++++++++++++++++++++++++++--
1 file changed, 39 insertions(+), 2 deletions(-)
diff --git a/src/processor_base.h b/src/processor_base.h
index 56d0ef663..447f7fabe 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -17,6 +17,10 @@ class SensorBase;
namespace wolf {
+/** \brief Key frame class pack
+ *
+ * To store a key_frame with an associated time tolerance.
+ */
class KFPack
{
public:
@@ -28,34 +32,67 @@ class KFPack
WOLF_PTR_TYPEDEFS(KFPack);
+
+/** \brief Buffer of Key frame class objects
+ *
+ * Object and functions to manage a buffer of KFPack objects.
+ */
class KFPackBuffer
{
public:
- typedef std::map<TimeStamp,KFPackPtr>::iterator Iterator;
+ typedef std::map<TimeStamp,KFPackPtr>::iterator Iterator; // buffer iterator
KFPackBuffer(void);
~KFPackBuffer(void);
+ /**\brief Select a Pack from the buffer
+ *
+ * Select from the buffer the closest pack (w.r.t. time stamp),
+ * respecting a defined time tolerance
+ */
KFPackPtr selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance);
+ /**\brief Buffer size
+ *
+ */
size_t size(void);
+ /**\brief Add a pack to the buffer
+ *
+ */
void add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance);
+ /**\brief Remove all packs in the buffer with a time stamp older than the specified
+ *
+ */
void removeUpTo(const TimeStamp& _time_stamp);
+ /**\brief Check time tolerance
+ *
+ * Check if the time distance between two time stamps is smaller than
+ * the minimum time tolerance of the two frames.
+ */
bool checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1, const TimeStamp& _time_stamp2, const Scalar& _time_tolerance2);
+ /**\brief Clear the buffer
+ *
+ */
void clear();
+ /**\brief Empty the buffer
+ *
+ */
bool empty();
+ /**\brief Print buffer information
+ *
+ */
void print();
private:
- std::map<TimeStamp,KFPackPtr> container_;
+ std::map<TimeStamp,KFPackPtr> container_; // Main buffer container
};
/** \brief base struct for processor parameters
--
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