Resolve "New processors workflow"

Closes #231 (closed)

include/core/capture/capture_buffer.h

-/**
- * \file capture_buffer.h
- *
- *  Created on: Jul 12, 2017
- *  \author: Jeremie Deray
- */
-
-#ifndef _WOLF_CAPTURE_BUFFER_H_
-#define _WOLF_CAPTURE_BUFFER_H_
-
-#include "core/common/wolf.h"
-#include "core/common/time_stamp.h"
-
-#include <list>
-#include <algorithm>
-
-namespace wolf {
-
-//using namespace Eigen;
-
-enum class CaptureBufferPolicy : std::size_t
-{
-  TIME = 0,
-  NUM_CAPTURES,
-  ALL
-};
-
-/** \brief class for capture buffers.
- *
- * It consists of a buffer of pre-integrated motions (aka. delta-integrals) that is being filled
- * by the motion processors (deriving from ProcessorMotion).
- * Each delta-integral is accompanied by a time stamp, a Jacobian and a covariances matrix.
- *
- * This buffer contains the time stamp and delta-integrals:
- *  - since the last key-Frame
- *  - until the frame of this capture.
- *
- * The buffer can be queried for motion-integrals and delta-integrals corresponding to a provided time stamp,
- * with the following rules:
- *   - If the query time stamp is later than the last one in the buffer,
- *     the last motion-integral or delta-integral is returned.
- *   - If the query time stamp is earlier than the beginning of the buffer,
- *     the earliest Motion or Delta is returned.
- *   - If the query time stamp matches one time stamp in the buffer exactly,
- *     the returned motion-integral or delta-integral is the one of the queried time stamp.
- *   - If the query time stamp does not match any time stamp in the buffer,
- *     the returned motion-integral or delta-integral is the one immediately before the query time stamp.
- */
-
-//template <CaptureBufferPolicy policy>
-class CaptureBuffer
-{
-public:
-
-  CaptureBuffer(const Scalar _buffer_dt, const int _max_capture = -1);
-  ~CaptureBuffer() = default;
-
-  void push_back(const CaptureBasePtr& capture);
-
-//  std::list<CaptureBasePtr>& get();
-//  const std::list<CaptureBasePtr>& get() const;
-
-  const CaptureBasePtr& getCapture(const TimeStamp& _ts) const;
-  void getCapture(const TimeStamp& _ts, CaptureBasePtr& _motion) const;
-
-  void remove(const CaptureBasePtr& capture);
-
-  void clear();
-//  void print();
-
-  const TimeStamp earliest() const;
-  const TimeStamp latest() const;
-
-//private:
-
-  int max_capture_;
-  Scalar buffer_dt_;
-
-  std::list<CaptureBasePtr> container_;
-};
-
-CaptureBuffer::CaptureBuffer(const Scalar _buffer_dt, const int _max_capture) :
-  max_capture_(_max_capture), buffer_dt_(_buffer_dt)
-{
-  //
-}
-
-void CaptureBuffer::push_back(const CaptureBasePtr& capture)
-{
-  container_.push_back(capture);
-
-  WOLF_DEBUG("Buffer dt : ", container_.back()->getTimeStamp() -
-             container_.front()->getTimeStamp(), " vs ", buffer_dt_);
-
-  while (container_.back()->getTimeStamp() -
-         container_.front()->getTimeStamp() > buffer_dt_)
-  {
-    container_.pop_front();
-  }
-}
-
-const CaptureBasePtr& CaptureBuffer::getCapture(const TimeStamp& _ts) const
-{
-  //assert((container_.front().ts_ <= _ts) && "Query time stamp out of buffer bounds");
-  auto previous = std::find_if(container_.rbegin(), container_.rend(),
-  [&](const CaptureBasePtr& c)
-  {
-    return c->getTimeStamp() <= _ts;
-  });
-
-  if (previous == container_.rend())
-    // The time stamp is older than the buffer's oldest data.
-    // We could do something here, and throw an error or something, but by now we'll return the first valid data
-    previous--;
-
-  return *previous;
-}
-
-void CaptureBuffer::getCapture(const TimeStamp& _ts, CaptureBasePtr& _capture) const
-{
-//  //assert((container_.front().ts_ <= _ts) && "Query time stamp out of buffer bounds");
-//  auto previous = std::find_if(container_.rbegin(), container_.rend(),
-//  [&](const Motion& m)
-//  {
-//    return c->getTimeStamp() <= _ts;
-//  });
-
-//  if (previous == container_.rend())
-//    // The time stamp is older than the buffer's oldest data.
-//    // We could do something here, but by now we'll return the last valid data
-//    previous--;
-
-//  _capture = *previous;
-
-  _capture = getCapture(_ts);
-}
-
-//inline std::list<CaptureBasePtr>& CaptureBuffer::get()
-//{
-//  return container_;
-//}
-
-//inline const std::list<CaptureBasePtr>& CaptureBuffer::get() const
-//{
-//  return container_;
-//}
-
-inline void CaptureBuffer::remove(const CaptureBasePtr& capture)
-{
-  container_.remove(capture);
-}
-
-inline void CaptureBuffer::clear()
-{
-  return container_.clear();
-}
-
-inline const TimeStamp CaptureBuffer::earliest() const
-{
-  return (!container_.empty())? container_.front()->getTimeStamp() :
-                                InvalidStamp;
-}
-
-inline const TimeStamp CaptureBuffer::latest() const
-{
-  return (!container_.empty())? container_.back()->getTimeStamp() :
-                                InvalidStamp;
-}
-
-} // namespace wolf
-
-#endif /* _WOLF_CAPTURE_BUFFER_H_ */