rate.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ROSLIB_RATE_H
00038 #define ROSLIB_RATE_H
00039 
00040 #include "ros/time.h"
00041 #include "rostime_decl.h"
00042 
00043 namespace ros
00044 {
00045 class Duration;
00046 
00051 class ROSTIME_DECL Rate
00052 {
00053 public:
00058   Rate(double frequency);
00059   explicit Rate(const Duration&);
00060 
00065   bool sleep();
00066 
00070   void reset();
00071 
00076   Duration cycleTime() const;
00077 
00081   Duration expectedCycleTime() const { return expected_cycle_time_; }
00082 
00083 private:
00084   Time start_;
00085   Duration expected_cycle_time_, actual_cycle_time_;
00086 };
00087 
00092 class ROSTIME_DECL WallRate
00093 {
00094 public:
00099   WallRate(double frequency);
00100   explicit WallRate(const Duration&);
00101 
00106   bool sleep();
00107 
00111   void reset();
00112 
00117   WallDuration cycleTime() const;
00118 
00122   WallDuration expectedCycleTime() const { return expected_cycle_time_; }
00123 
00124 private:
00125   WallTime start_;
00126   WallDuration expected_cycle_time_, actual_cycle_time_;
00127 };
00128 
00129 }
00130 
00131 #endif


rostime
Author(s): Josh Faust
autogenerated on Wed Mar 8 2017 03:55:05