ros::Rate Class Reference

Class to help run loops at a desired frequency. More...

#include <rate.h>

Public Member Functions
Duration	cycleTime () const
	Get the actual run time of a cycle from start to sleep. More...
Duration	expectedCycleTime () const
	Get the expected cycle time – one over the frequency passed in to the constructor. More...
	Rate (double frequency)
	Constructor, creates a Rate. More...
	Rate (const Duration &)
void	reset ()
	Sets the start time for the rate to now. More...
bool	sleep ()
	Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called. More...

Private Attributes
Duration	actual_cycle_time_
Duration	expected_cycle_time_
Time	start_

Detailed Description

Class to help run loops at a desired frequency.

Definition at line 51 of file rate.h.

Constructor & Destructor Documentation

Rate() [1/2]

ros::Rate::Rate

(

double

frequency

)

Constructor, creates a Rate.

Parameters

frequency

The desired rate to run at in Hz

Definition at line 42 of file rate.cpp.

Rate() [2/2]

ros::Rate::Rate ( const Duration &  d )

explicit

Definition at line 48 of file rate.cpp.

Member Function Documentation

cycleTime()

Duration ros::Rate::cycleTime

(

)

const

Get the actual run time of a cycle from start to sleep.

Returns

The runtime of the cycle

Definition at line 96 of file rate.cpp.

expectedCycleTime()

Duration ros::Rate::expectedCycleTime ( ) const

inline

Get the expected cycle time – one over the frequency passed in to the constructor.

Definition at line 81 of file rate.h.

reset()

void ros::Rate::reset

(

)

Sets the start time for the rate to now.

Definition at line 91 of file rate.cpp.

sleep()

bool ros::Rate::sleep

(

)

Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.

Returns

True if the desired rate was met for the cycle, false otherwise.

Definition at line 54 of file rate.cpp.

Member Data Documentation

actual_cycle_time_

Duration ros::Rate::actual_cycle_time_

private

Definition at line 85 of file rate.h.

expected_cycle_time_

Duration ros::Rate::expected_cycle_time_

private

Definition at line 85 of file rate.h.

start_

Time ros::Rate::start_

private

Definition at line 84 of file rate.h.

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

• rate.h
• rate.cpp