HistoryBuffer.h

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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.
 */
 
#ifndef HISTORYBUFFER_H
#define HISTORYBUFFER_H
 
#include <deque>
 
#include <Eigen/Core>
 
namespace bfl {
    class HistoryBuffer;
}
 
 
class bfl::HistoryBuffer
{
public:
    HistoryBuffer(const std::size_t state_size) noexcept;
 
    HistoryBuffer(HistoryBuffer&& history_buffer) noexcept;
 
    HistoryBuffer& operator=(HistoryBuffer&& history_buffer) noexcept;
 
    ~HistoryBuffer() noexcept = default;
 
    void addElement(const Eigen::Ref<const Eigen::VectorXd>& element);
 
    Eigen::MatrixXd getHistoryBuffer() const;
 
    bool setHistorySize(const unsigned int window);
 
    inline unsigned int getHistorySize() const { return window_; };
 
    bool decreaseHistorySize();
 
    bool increaseHistorySize();
 
    bool clear();
 
 
private:
    unsigned int window_ = 5;
 
    const unsigned int max_window_ = 30;
 
    std::deque<Eigen::VectorXd> history_buffer_;
 
    std::size_t state_size_;
};
 
#endif /* HISTORYBUFFER_H */