roswrap::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 93 of file rate.h.

Constructor & Destructor Documentation

WallRate() [1/2]

roswrap::WallRate::WallRate

(

double

frequency

)

Constructor, creates a Rate.

Parameters

frequency

The desired rate to run at in Hz

Definition at line 138 of file rate.cpp.

WallRate() [2/2]

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

explicit

Definition at line 144 of file rate.cpp.

Member Function Documentation

cycleTime()

WallDuration roswrap::WallRate::cycleTime

(

)

const

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

Returns

The runtime of the cycle

Definition at line 191 of file rate.cpp.

expectedCycleTime()

WallDuration roswrap::WallRate::expectedCycleTime ( ) const

inline

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

Definition at line 123 of file rate.h.

reset()

void roswrap::WallRate::reset

(

)

Sets the start time for the rate to now.

Definition at line 186 of file rate.cpp.

sleep()

bool roswrap::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 150 of file rate.cpp.

Member Data Documentation

actual_cycle_time_

WallDuration roswrap::WallRate::actual_cycle_time_

private

Definition at line 127 of file rate.h.

expected_cycle_time_

WallDuration roswrap::WallRate::expected_cycle_time_

private

Definition at line 127 of file rate.h.

start_

WallTime roswrap::WallRate::start_

private

Definition at line 126 of file rate.h.

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

• rate.h
• rate.cpp