rate.h
Go to the documentation of this file.
1 /*********************************************************************
2 *
3 * Software License Agreement (BSD License)
4 *
5 * Copyright (c) 2009, Willow Garage, Inc.
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of the Willow Garage nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 *
35 * Author: Eitan Marder-Eppstein
36 *********************************************************************/
37 #ifndef ROSLIB_RATE_H
38 #define ROSLIB_RATE_H
39 
40 #include "ros/time.h"
41 #include "rostime_decl.h"
42 
43 namespace ros
44 {
45 class Duration;
46 
51 class ROSTIME_DECL Rate
52 {
53 public:
58  Rate(double frequency);
59  explicit Rate(const Duration&);
60 
65  bool sleep();
66 
70  void reset();
71 
76  Duration cycleTime() const;
77 
81  Duration expectedCycleTime() const { return expected_cycle_time_; }
82 
83 private:
84  Time start_;
85  Duration expected_cycle_time_, actual_cycle_time_;
86 };
87 
93 {
94 public:
99  WallRate(double frequency);
100  explicit WallRate(const Duration&);
101 
106  bool sleep();
107 
111  void reset();
112 
117  WallDuration cycleTime() const;
118 
122  WallDuration expectedCycleTime() const { return expected_cycle_time_; }
123 
124 private:
125  WallTime start_;
126  WallDuration expected_cycle_time_, actual_cycle_time_;
127 };
128 
129 }
130 
131 #endif
ros
time.h
ros::WallRate
Class to help run loops at a desired frequency. This version always uses wall-clock time.
Definition: rate.h:127
ros::WallDuration
Duration representation for use with the WallTime class.
Definition: duration.h:155
ROSTIME_DECL
#define ROSTIME_DECL
Definition: rostime_decl.h:52
ros::Duration
Duration representation for use with the Time class.
Definition: duration.h:117
rostime_decl.h


rostime
Author(s): Josh Faust, Dirk Thomas
autogenerated on Sat Jun 17 2023 02:32:37