rate.h

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* Author: Eitan Marder-Eppstein
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#ifndef ROSLIB_RATE_H
#define ROSLIB_RATE_H

#include "ros/time.h"
#include "rostime_decl.h"

namespace ros
{
class Duration;

class ROSTIME_DECL Rate
{
public:
  Rate(double frequency);
  explicit Rate(const Duration&);

  bool sleep();

  void reset();

  Duration cycleTime() const;

  Duration expectedCycleTime() const { return expected_cycle_time_; }

private:
  Time start_;
  Duration expected_cycle_time_, actual_cycle_time_;
};

class ROSTIME_DECL WallRate
{
public:
  WallRate(double frequency);
  explicit WallRate(const Duration&);

  bool sleep();

  void reset();

  WallDuration cycleTime() const;

  WallDuration expectedCycleTime() const { return expected_cycle_time_; }

private:
  WallTime start_;
  WallDuration expected_cycle_time_, actual_cycle_time_;
};

}

#endif