rate.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
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#ifndef ROSLIB_RATE_H
#define ROSLIB_RATE_H
 
#include "ros/time.h"
#include "rostime_decl.h"
 
namespace roswrap
{
class Duration;
 
class ROSTIME_DECL Rate
{
public:
  Rate(double frequency);
  explicit Rate(const Duration&);
 
  bool sleep();
 
  void reset();
 
  Duration cycleTime() const;
 
  Duration expectedCycleTime() const { return expected_cycle_time_; }
 
private:
  Time start_;
  Duration expected_cycle_time_, actual_cycle_time_;
};
 
class ROSTIME_DECL WallRate
{
public:
  WallRate(double frequency);
  explicit WallRate(const Duration&);
 
  bool sleep();
 
  void reset();
 
  WallDuration cycleTime() const;
 
  WallDuration expectedCycleTime() const { return expected_cycle_time_; }
 
private:
  WallTime start_;
  WallDuration expected_cycle_time_, actual_cycle_time_;
};
 
}
 
#endif