41 lines
869 B
C++
41 lines
869 B
C++
#include <vector>
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#include <inttypes.h>
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template<typename T1,typename T2>
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class Buffer{
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public:
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Buffer(){};
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void push(T1 input){
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img.push_back(input);
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}
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void push(T1 input_1,T2* input_2 ){
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img.push_back(input_1);
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odom=input_2;
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}
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void push(T1 input_1,T1 input_2){
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img.push_back(input_1);
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img.push_back(input_2);
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}
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void push(T1 input_1,T1 input_2,T2* input_3 ){
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img.push_back(input_1);
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img.push_back(input_2);
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odom=input_3;
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}
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std::vector<T1>* read(){
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return &img;
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}
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T2* read_odom(){
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return odom;
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}
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int64_t time(){
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return t;
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}
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std::pair<std::size_t,int64_t> config(){
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return std::pair<std::size_t,int64_t>(img.size(),t);
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}
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private:
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std::vector<T1> img;
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T2* odom=nullptr;
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int64_t t=0;
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};
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