Generic rate-limiter interface.
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#include <rate_limiter.h>
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| | RateLimiter (const ::ros::Duration &period) |
| | Create limiter with rate corresponding to the given period. More...
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| | RateLimiter (const ::ros::Rate &rate) |
| | Create limiter with the given rate. More...
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| virtual void | reset ()=0 |
| | Reset the rate-limiter as if it were newly created with the same parameters. More...
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| void | setJumpBackTolerance (const ::ros::Duration &tolerance) |
| | Set the limit for telling between small and large backwards time jumps. Small jumps result in ignoring the messages, while a large jump results in a reset of the rate-limter. More...
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| virtual bool | shouldPublish (const ::ros::Time &stamp)=0 |
| | Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped. More...
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| bool | jumpedBack (const ::ros::Time &stamp, const ::ros::Time &previousStamp) const |
| | Decide whether the newly coming message should be treated as a backwards jump in time. More...
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Generic rate-limiter interface.
Definition at line 21 of file rate_limiter.h.
◆ RateLimiter() [1/2]
| cras::RateLimiter::RateLimiter |
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const ::ros::Rate & |
rate | ) |
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explicit |
Create limiter with the given rate.
- Parameters
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| [in] | rate | The desired rate of messages. |
◆ RateLimiter() [2/2]
Create limiter with rate corresponding to the given period.
- Parameters
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| [in] | period | Average delay between two desired output messages. |
◆ jumpedBack()
| bool cras::RateLimiter::jumpedBack |
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const ::ros::Time & |
stamp, |
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const ::ros::Time & |
previousStamp |
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) |
| const |
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protected |
Decide whether the newly coming message should be treated as a backwards jump in time.
- Parameters
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| [in] | stamp | Reception time of the new message. |
| [in] | previousStamp | Reception time of the previous message. |
- Returns
- True if the message should be treated as a large time jump.
◆ reset()
| virtual void cras::RateLimiter::reset |
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| ) |
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pure virtual |
◆ setJumpBackTolerance()
| void cras::RateLimiter::setJumpBackTolerance |
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const ::ros::Duration & |
tolerance | ) |
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Set the limit for telling between small and large backwards time jumps. Small jumps result in ignoring the messages, while a large jump results in a reset of the rate-limter.
- Parameters
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| [in] | tolerance | If a new message comes that is tolerance seconds older than the last seen message, it should be treated as a large jump. |
◆ shouldPublish()
| virtual bool cras::RateLimiter::shouldPublish |
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const ::ros::Time & |
stamp | ) |
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pure virtual |
Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped.
- Parameters
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| [in] | stamp | Time when the message should be sent (usually not header.stamp!). |
- Returns
- Whether to continue publishing the message.
Implemented in cras::TokenBucketLimiter, and cras::ThrottleLimiter.
◆ jumpBackTolerance
Threshold for jump back detection.
Definition at line 73 of file rate_limiter.h.
◆ period
The desired period between message (1/rate).
Definition at line 70 of file rate_limiter.h.
◆ rate
The documentation for this class was generated from the following file:
