The (not so clever) algorithm used by topic_tools/throttle node. More...

#include <rate_limiter.h>

Inheritance diagram for cras::ThrottleLimiter:

Public Member Functions
void	reset () override
	Reset the rate-limiter as if it were newly created with the same parameters. More...

bool	shouldPublish (const ::ros::Time &stamp) override
	Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped. More...

	ThrottleLimiter (const ::ros::Duration &period)

	ThrottleLimiter (const ::ros::Rate &rate)

Public Member Functions inherited from cras::RateLimiter
	RateLimiter (const ::ros::Duration &period)
	Create limiter with rate corresponding to the given period. More...

	RateLimiter (const ::ros::Rate &rate)
	Create limiter with the given rate. More...

void	setJumpBackTolerance (const ::ros::Duration &tolerance)
	Set the limit for telling between small and large backwards time jumps. Small jumps result in ignoring the messages, while a large jump results in a reset of the rate-limter. More...

Protected Attributes
::ros::Time	lastPublishTime {0, 0}
	Stamp of the last message for which `shouldPublish()` returned trued. More...

Protected Attributes inherited from cras::RateLimiter
::ros::Duration	jumpBackTolerance {3, 0}
	Threshold for jump back detection. More...

::ros::Duration	period
	The desired period between message (1/rate). More...

::ros::Rate	rate
	The desired rate (1/period). More...

Additional Inherited Members
Protected Member Functions inherited from cras::RateLimiter
bool	jumpedBack (const ::ros::Time &stamp, const ::ros::Time &previousStamp) const
	Decide whether the newly coming message should be treated as a backwards jump in time. More...

Detailed Description

The (not so clever) algorithm used by topic_tools/throttle node.

Note: It is not very good at achieving the requested if it isn't orders of magnitude smaller than the incoming rate.

Definition at line 80 of file rate_limiter.h.

Constructor & Destructor Documentation

◆ ThrottleLimiter() [1/2]

cras::ThrottleLimiter::ThrottleLimiter ( const ::ros::Rate & rate )

explicit

◆ ThrottleLimiter() [2/2]

cras::ThrottleLimiter::ThrottleLimiter ( const ::ros::Duration & period )

explicit

Member Function Documentation

◆ reset()

void cras::ThrottleLimiter::reset ( )

overridevirtual

Reset the rate-limiter as if it were newly created with the same parameters.

Implements cras::RateLimiter.

◆ shouldPublish()

bool cras::ThrottleLimiter::shouldPublish ( const ::ros::Time & stamp )

overridevirtual

Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped.

Parameters

[in] stamp Time when the message should be sent (usually not header.stamp!).

Returns: Whether to continue publishing the message.

Implements cras::RateLimiter.

Member Data Documentation

◆ lastPublishTime

::ros::Time cras::ThrottleLimiter::lastPublishTime {0, 0}

protected

Stamp of the last message for which shouldPublish() returned trued.

Definition at line 91 of file rate_limiter.h.

The documentation for this class was generated from the following file:

rate_limiter.h

Public Member Functions

Protected Attributes

Additional Inherited Members