path_history.hpp

#ifndef PATH_HISTORY_HPP_1ITSMS5I
#define PATH_HISTORY_HPP_1ITSMS5I
 
#include <vanetza/facilities/path_point.hpp>
#include <boost/circular_buffer.hpp>
#include <list>
 
namespace vanetza
{
namespace facilities
{
 
/**
 * Implementation of Path History Reference Design (Method One)
 * \see NHTSA Document "VSC-A Final Report: Appendix B-2" from September 2011
 */
class PathHistory
{
public:
    PathHistory();
 
    /**
     * Consider one further path point for inclusion into path history
     * \param a path point, expected to be newer than any previously given point
     */
    void addSample(const PathPoint&);
 
    /**
     * Get current reference point, i.e. last provided path point
     * \return current reference point (fallback is a default constructed PathPoint)
     */
    const PathPoint& getReferencePoint() const;
 
    /**
     * Get concise list of path points
     * \note previously given path points are only included if the algorithm
     *       presented in above mentioned document as "Method One" selects them
     * \return list of path points, some given points might be omitted
     */
    const std::list<PathPoint>& getConcisePoints() const { return m_concise; }
 
private:
    void updateConcisePoints();
    void truncateConcisePoints();
    const PathPoint& starting() const;
    const PathPoint& previous() const;
    const PathPoint& next() const;
 
    boost::circular_buffer<PathPoint> m_samples;
    std::list<PathPoint> m_concise;
};
 
} // namespace facilities
} // namespace vanetza
 
#endif /* PATH_HISTORY_HPP_1ITSMS5I */