HistoryBuffer.cpp

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <BayesFilters/HistoryBuffer.h>
 
using namespace bfl;
using namespace Eigen;
 
 
HistoryBuffer::HistoryBuffer(const std::size_t state_size) noexcept :
    state_size_(state_size)
{ }
 
 
HistoryBuffer::HistoryBuffer(HistoryBuffer&& history_buffer) noexcept :
    window_(history_buffer.window_),
    history_buffer_(std::move(history_buffer.history_buffer_)),
    state_size_(history_buffer.state_size_)
{
    history_buffer.window_ = 0;
    history_buffer.state_size_ = 0;
}
 
 
HistoryBuffer& HistoryBuffer::operator=(HistoryBuffer&& history_buffer) noexcept
{
    if (this == &history_buffer)
        return *this;
 
    window_ = history_buffer.window_;
    history_buffer.window_ = 0;
 
    state_size_ = history_buffer.state_size_;
    history_buffer.state_size_ = 0;
 
    history_buffer_ = std::move(history_buffer.history_buffer_);
 
    return *this;
}
 
 
void HistoryBuffer::addElement(const Ref<const VectorXd>& element)
{
    history_buffer_.push_front(element);
 
    if (history_buffer_.size() > window_)
        history_buffer_.pop_back();
}
 
 
MatrixXd HistoryBuffer::getHistoryBuffer() const
{
    MatrixXd hist_out(state_size_, history_buffer_.size());
 
    unsigned int i = 0;
    for (const Ref<const VectorXd>& element : history_buffer_)
        hist_out.col(i++) = element;
 
    return hist_out;
}
 
 
bool HistoryBuffer::setHistorySize(const unsigned int window)
{
    unsigned int tmp;
    if      (window == window_)     return true;
    else if (window < 2)            tmp = 2;
    else if (window >= max_window_) tmp = max_window_;
    else                            tmp = window;
 
    if (tmp < window_ && tmp < history_buffer_.size())
    {
        for (unsigned int i = 0; i < (window_ - tmp); ++i)
            history_buffer_.pop_back();
    }
 
    window_ = tmp;
 
    return true;
}
 
 
bool HistoryBuffer::decreaseHistorySize()
{
    return setHistorySize(window_ - 1);
}
 
 
bool HistoryBuffer::increaseHistorySize()
{
    return setHistorySize(window_ + 1);
}
 
 
bool HistoryBuffer::clear()
{
    history_buffer_.clear();
    return true;
}