timered_diagnostic_updater.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_
00038 #define JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_
00039 
00040 #include <ros/ros.h>
00041 #include <diagnostic_updater/diagnostic_updater.h>
00042 
00043 namespace jsk_topic_tools
00044 {
00046   // TimeredDiagnosticUpdater
00047   //   useful wrapper of DiagnosticUpdater.
00049   class TimeredDiagnosticUpdater
00050   {
00051   public:
00052     typedef boost::shared_ptr<TimeredDiagnosticUpdater> Ptr;
00053     TimeredDiagnosticUpdater(ros::NodeHandle& nh,
00054                              const ros::Duration& timer_duration);
00055     virtual ~TimeredDiagnosticUpdater();
00056     // wrapper methods of diagnostic_updater::Updater
00057     virtual void add(const std::string& name,
00058                      diagnostic_updater::TaskFunction f);
00059     //virtual void add(diagnostic_updater::DiagnosticTask task);
00060     virtual void start();
00061     virtual void setHardwareID(const std::string& name);
00062     virtual void update();
00063   protected:
00064     virtual void timerCallback(const ros::TimerEvent& event);
00065     ros::Timer timer_;
00066     boost::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
00067   private:
00068     
00069   };
00070 }
00071 
00072 #endif
00073 


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 00:30:41