Program Listing for File utils.hpp
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef GAZEBO_ROS__UTILS_HPP_
#define GAZEBO_ROS__UTILS_HPP_
#include <gazebo/common/Time.hh>
#include <gazebo/sensors/Noise.hh>
#include <gazebo/sensors/Sensor.hh>
#include <gazebo_ros/utils_visibility_control.h>
#include <string>
#ifdef _WIN32
#include <chrono>
#include <thread>
#define usleep(usec) (std::this_thread::sleep_for(std::chrono::microseconds(usec)))
#endif // _WIN32
namespace gazebo_ros
{
GAZEBO_ROS_UTILS_PUBLIC
double NoiseVariance(const gazebo::sensors::Noise & _noise);
GAZEBO_ROS_UTILS_PUBLIC
double NoiseVariance(const gazebo::sensors::NoisePtr & _noise_ptr);
GAZEBO_ROS_UTILS_PUBLIC
std::string ScopedNameBase(const std::string & str);
// or the value of the sdf tag below if it is present.
GAZEBO_ROS_UTILS_PUBLIC
std::string SensorFrameID(const gazebo::sensors::Sensor & _sensor, const sdf::Element & _sdf);
class GAZEBO_ROS_UTILS_PUBLIC Throttler
{
public:
explicit Throttler(const double _hz);
bool IsReady(const gazebo::common::Time & _time);
private:
double period_;
gazebo::common::Time last_time_;
};
} // namespace gazebo_ros
#endif // GAZEBO_ROS__UTILS_HPP_