time_util.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab 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
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00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034  *********************************************************************/
00035 
00036 #include <ros/ros.h>
00037 #include <boost/circular_buffer.hpp>
00038 #include <std_msgs/Float32.h>
00039 
00040 namespace jsk_recognition_utils
00041 {
00042   class WallDurationTimer;
00043   
00044   class ScopedWallDurationReporter
00045   {
00046   public:
00047     typedef boost::shared_ptr<ScopedWallDurationReporter> Ptr;
00048     ScopedWallDurationReporter(WallDurationTimer* parent);
00049     ScopedWallDurationReporter(WallDurationTimer* parent,
00050                                ros::Publisher& pub_latest,
00051                                ros::Publisher& pub_average);
00052     virtual ~ScopedWallDurationReporter();
00053     virtual void setIsPublish(bool);
00054     virtual void setIsEnabled(bool);
00055   protected:
00056     WallDurationTimer* parent_;
00057     ros::WallTime start_time_;
00058     ros::Publisher pub_latest_, pub_average_;
00059     bool is_publish_;
00060     bool is_enabled_;
00061   private:
00062     
00063   };
00064   
00065   class WallDurationTimer
00066   {
00067   public:
00068     typedef boost::shared_ptr<WallDurationTimer> Ptr;
00069     WallDurationTimer(const int max_num);
00070     virtual void report(ros::WallDuration& duration);
00071     virtual ScopedWallDurationReporter reporter();
00072     virtual ScopedWallDurationReporter reporter(
00073       ros::Publisher& pub_latest,
00074       ros::Publisher& pub_average);
00075     virtual void clearBuffer();
00076     virtual double meanSec();
00077     virtual double latestSec();
00078     virtual size_t sampleNum();
00079   protected:
00080     const int max_num_;
00081     boost::circular_buffer<ros::WallDuration> buffer_;
00082   private:
00083   };
00084   
00085 }


jsk_recognition_utils
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autogenerated on Tue Jul 2 2019 19:40:37