corbo::Rate Class Reference

Rate objects can be used to run loops at a desired rate. More...

#include <time.h>

Public Member Functions
Duration	lastCycleTime () const
	Return actual execution time of the last cycle. More...
	Rate (double frequency)
	Construct rate object from frequency [1/s]. More...
	Rate (const Duration &dt)
	Cosntruct rate object from duration object (interval length) More...
void	reset ()
bool	sleep ()
	Sleep for the remaining duration to met the desired frequency (w.r.t previous sleep call) More...
void	updateCycleTime (const Duration &dt)
	Update cycle time without resetting start time. More...

Private Attributes
Duration	_cycle_time
Duration	_last_cycle_time = Duration(0)
Time	_start = Time::now()

Detailed Description

Rate objects can be used to run loops at a desired rate.

Rate rate(10) // The loop should run at 10 Hz
while (1)
{
   // perform some work which is ideally finished before 1/10 s
   // in order to remain synchronized
   rate.sleep(); // pause to synchronize with 10 Hz
}

This class is inspired and based on the ROS class ros::Time http://wiki.ros.org/roscpp/Overview/Time

See also

Time Duration

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 353 of file time.h.

Constructor & Destructor Documentation

Rate() [1/2]

corbo::Rate::Rate ( double  frequency )

inlineexplicit

Construct rate object from frequency [1/s].

Definition at line 357 of file time.h.

Rate() [2/2]

corbo::Rate::Rate ( const Duration &  dt )

inlineexplicit

Cosntruct rate object from duration object (interval length)

Definition at line 359 of file time.h.

Member Function Documentation

lastCycleTime()

Duration corbo::Rate::lastCycleTime ( ) const

inline

Return actual execution time of the last cycle.

Definition at line 368 of file time.h.

reset()

void corbo::Rate::reset ( )

inline

Definition at line 362 of file time.h.

sleep()

bool corbo::Rate::sleep

(

)

Sleep for the remaining duration to met the desired frequency (w.r.t previous sleep call)

Definition at line 31 of file time.cpp.

updateCycleTime()

void corbo::Rate::updateCycleTime ( const Duration &  dt )

inline

Update cycle time without resetting start time.

Definition at line 365 of file time.h.

Member Data Documentation

_cycle_time

Duration corbo::Rate::_cycle_time

private

Definition at line 372 of file time.h.

_last_cycle_time

Duration corbo::Rate::_last_cycle_time = Duration(0)

private

Definition at line 373 of file time.h.

_start

Time corbo::Rate::_start = Time::now()

private

Definition at line 371 of file time.h.

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The documentation for this class was generated from the following files:

• time.h
• time.cpp