/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARINTERPOLATION_H
#define ARINTERPOLATION_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"

/** 
    This class takes care of storing in readings of position vs time, and then
    interpolating between them to find where the robot was at a particular 
    point in time.  It has two lists, one containing the times, and one 
    containing the positions at those same times (per position), they must be 
    walked through jointly to maintain cohesion.  The new entries are at the
    front of the list, while the old ones are at the back.  
    numberOfReadings and the setNumberOfReadings control the number of entries
    in the list.  If a size is set that is smaller than the current size, then
    the old ones are chopped off.
**/
class ArInterpolation
{
public:
  /// Constructor
  AREXPORT ArInterpolation(size_t numberOfReadings = 100);
  /// Destructor
  AREXPORT virtual ~ArInterpolation();
  /// Adds a new reading
  AREXPORT bool addReading(ArTime timeOfReading, ArPose position);
  /// Finds a position
  AREXPORT int getPose(ArTime timeStamp, ArPose *position);
  /// Sets the number of readings this instance holds back in time
  AREXPORT void setNumberOfReadings(size_t numberOfReadings);
  /// Gets the number of readings this instance holds back in time
  AREXPORT size_t getNumberOfReadings(void) const;
  /// Empties the interpolated positions
  AREXPORT void reset(void);
protected:
  ArMutex myDataMutex;
  std::list<ArTime> myTimes;
  std::list<ArPose> myPoses;
  size_t mySize;
};

#endif
