ros::WallRate Class Reference

Class to help run loops at a desired frequency. This version always uses wall-clock time. More...

#include <rate.h>

List of all members.

Public Member Functions
WallDuration	cycleTime () const
	Get the actual run time of a cycle from start to sleep.
WallDuration	expectedCycleTime () const
	Get the expected cycle time -- one over the frequency passed in to the constructor.
void	reset ()
	Sets the start time for the rate to now.
bool	sleep ()
	Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
	WallRate (const Duration &)
	WallRate (double frequency)
	Constructor, creates a Rate.
Private Attributes
WallDuration	actual_cycle_time_
WallDuration	expected_cycle_time_
WallTime	start_

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Detailed Description

Class to help run loops at a desired frequency. This version always uses wall-clock time.

Definition at line 92 of file rate.h.

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Constructor & Destructor Documentation

ros::WallRate::WallRate

(

double

frequency

)

Constructor, creates a Rate.

Parameters:

frequency

The desired rate to run at in Hz

Definition at line 102 of file rate.cpp.

ros::WallRate::WallRate

(

const Duration &

d

)

[explicit]

Definition at line 108 of file rate.cpp.

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Member Function Documentation

WallDuration ros::WallRate::cycleTime

(

)

const

Get the actual run time of a cycle from start to sleep.

Returns:

The runtime of the cycle

Definition at line 155 of file rate.cpp.

WallDuration ros::WallRate::expectedCycleTime

(

)

const [inline]

Get the expected cycle time -- one over the frequency passed in to the constructor.

Definition at line 122 of file rate.h.

void ros::WallRate::reset

(

)

Sets the start time for the rate to now.

Definition at line 150 of file rate.cpp.

bool ros::WallRate::sleep

(

)

Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.

Returns:

Passes through the return value from WallDuration::sleep() if it slept, otherwise True

Definition at line 114 of file rate.cpp.

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Member Data Documentation

WallDuration ros::WallRate::actual_cycle_time_ [private]

Definition at line 126 of file rate.h.

WallDuration ros::WallRate::expected_cycle_time_ [private]

Definition at line 126 of file rate.h.

WallTime ros::WallRate::start_ [private]

Definition at line 125 of file rate.h.

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

• rate.h
• rate.cpp