Struct LatestTime::Rate

Defined in File latest_time.h

Nested Relationships

This struct is a nested type of Template Struct LatestTime.

Struct Documentation

struct Rate

Public Functions

inline Rate(const rclcpp::Time &start)

inline Rate(const rclcpp::Time &start, const double &rate_ema_alpha, const double &error_ema_alpha, const double &rate_step_change_margin_factor)

inline bool operator>(const Rate &that) const

inline bool compute_hz(const rclcpp::Time &now)

Public Members

rclcpp::Time prev

double hz = {0.0}

double error = {0.0}

double rate_ema_alpha = {DEFAULT_RATE_EMA_ALPHA}

double error_ema_alpha = {DEFAULT_ERROR_EMA_ALPHA}

double rate_step_change_margin_factor = {DEFAULT_MARGIN_FACTOR}

bool do_hz_init = {true}

bool do_error_init = {true}

Public Static Attributes

static constexpr double DEFAULT_RATE_EMA_ALPHA = {0.9}

static constexpr double DEFAULT_ERROR_EMA_ALPHA = {0.3}

static constexpr double DEFAULT_MARGIN_FACTOR = {10.0}