ros::WallRate Class Reference

Class to help run loops at a desired frequency. This version always uses wall-clock time. More...

#include <rate.h>

Public Member Functions
WallDuration	cycleTime () const
	Get the actual run time of a cycle from start to sleep. More...
WallDuration	expectedCycleTime () const
	Get the expected cycle time – one over the frequency passed in to the constructor. More...
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...
	WallRate (const Duration &)
	WallRate (double frequency)
	Constructor, creates a Rate. More...

Private Attributes
WallDuration	actual_cycle_time_
WallDuration	expected_cycle_time_
WallTime	start_

Detailed Description

Class to help run loops at a desired frequency. This version always uses wall-clock time.

Definition at line 127 of file rate.h.

Constructor & Destructor Documentation

WallRate() [1/2]

ros::WallRate::WallRate

(

double

frequency

)

Constructor, creates a Rate.

Parameters

frequency

The desired rate to run at in Hz

Definition at line 136 of file rate.cpp.

WallRate() [2/2]

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

explicit

Definition at line 142 of file rate.cpp.

Member Function Documentation

cycleTime()

WallDuration ros::WallRate::cycleTime

(

)

const

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

Returns

The runtime of the cycle

Definition at line 189 of file rate.cpp.

expectedCycleTime()

WallDuration ros::WallRate::expectedCycleTime ( ) const

inline

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

Definition at line 157 of file rate.h.

reset()

void ros::WallRate::reset

(

)

Sets the start time for the rate to now.

Definition at line 184 of file rate.cpp.

sleep()

bool ros::WallRate::sleep

(

)

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

Returns

Passes through the return value from WallDuration::sleep() if it slept, false otherwise.

Definition at line 148 of file rate.cpp.

Member Data Documentation

actual_cycle_time_

WallDuration ros::WallRate::actual_cycle_time_

private

Definition at line 161 of file rate.h.

expected_cycle_time_

WallDuration ros::WallRate::expected_cycle_time_

private

Definition at line 161 of file rate.h.

start_

WallTime ros::WallRate::start_

private

Definition at line 160 of file rate.h.

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

• rate.h
• rate.cpp