// -*- mode: c++ -*-
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#ifndef JSK_TOPIC_TOOLS_TIME_ACCUMULATOR_H_
#define JSK_TOPIC_TOOLS_TIME_ACCUMULATOR_H_

#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/min.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/variance.hpp>
#include <boost/accumulators/statistics/count.hpp>

#include <ros/time.h>


namespace jsk_topic_tools
{
  class ScopedTimer;
  
  class TimeAccumulator
  {
  public:
    typedef boost::accumulators::accumulator_set<
    double,
    boost::accumulators::stats<boost::accumulators::tag::count,
                               boost::accumulators::tag::mean,
                               boost::accumulators::tag::min,
                               boost::accumulators::tag::max,
                               boost::accumulators::tag::variance> > Accumulator;
    
    TimeAccumulator();
    virtual ~TimeAccumulator();
    virtual ScopedTimer scopedTimer();
    virtual void registerTime(double time);
    virtual double mean();
    virtual double min();
    virtual double max();
    virtual int count();
    virtual double variance();
  protected:
    Accumulator acc_;
  };

  class ScopedTimer
  {
  public:
    ScopedTimer(TimeAccumulator* parent);
    virtual ~ScopedTimer();
  protected:
    TimeAccumulator* parent_;
    ros::WallTime start_time_;
  };

}

#endif
