rate.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ROSLIB_RATE_H 00038 #define ROSLIB_RATE_H 00039 00040 #include "ros/time.h" 00041 #include "rostime_decl.h" 00042 00043 namespace ros 00044 { 00045 class Duration; 00046 00051 class ROSTIME_DECL Rate 00052 { 00053 public: 00058 Rate(double frequency); 00059 explicit Rate(const Duration&); 00060 00065 bool sleep(); 00066 00070 void reset(); 00071 00076 Duration cycleTime() const; 00077 00081 Duration expectedCycleTime() const { return expected_cycle_time_; } 00082 00083 private: 00084 Time start_; 00085 Duration expected_cycle_time_, actual_cycle_time_; 00086 }; 00087 00092 class ROSTIME_DECL WallRate 00093 { 00094 public: 00099 WallRate(double frequency); 00100 explicit WallRate(const Duration&); 00101 00106 bool sleep(); 00107 00111 void reset(); 00112 00117 WallDuration cycleTime() const; 00118 00122 WallDuration expectedCycleTime() const { return expected_cycle_time_; } 00123 00124 private: 00125 WallTime start_; 00126 WallDuration expected_cycle_time_, actual_cycle_time_; 00127 }; 00128 00129 } 00130 00131 #endif