/usr/include/ros/rate.h is in libroscpp-core-dev 0.6.1-2.
This file is owned by root:root, with mode 0o644.
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*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ROSLIB_RATE_H
#define ROSLIB_RATE_H
#include "ros/time.h"
#include "rostime_decl.h"
namespace ros
{
class Duration;
/**
* @class Rate
* @brief Class to help run loops at a desired frequency
*/
class ROSTIME_DECL Rate
{
public:
/**
* @brief Constructor, creates a Rate
* @param frequency The desired rate to run at in Hz
*/
Rate(double frequency);
explicit Rate(const Duration&);
/**
* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
* @return True if the desired rate was met for the cycle, false otherwise.
*/
bool sleep();
/**
* @brief Sets the start time for the rate to now
*/
void reset();
/**
* @brief Get the actual run time of a cycle from start to sleep
* @return The runtime of the cycle
*/
Duration cycleTime() const;
/**
* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
*/
Duration expectedCycleTime() const { return expected_cycle_time_; }
private:
Time start_;
Duration expected_cycle_time_, actual_cycle_time_;
};
/**
* @class WallRate
* @brief Class to help run loops at a desired frequency. This version always uses wall-clock time.
*/
class ROSTIME_DECL WallRate
{
public:
/**
* @brief Constructor, creates a Rate
* @param frequency The desired rate to run at in Hz
*/
WallRate(double frequency);
explicit WallRate(const Duration&);
/**
* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
* @return Passes through the return value from WallDuration::sleep() if it slept, false otherwise.
*/
bool sleep();
/**
* @brief Sets the start time for the rate to now
*/
void reset();
/**
* @brief Get the actual run time of a cycle from start to sleep
* @return The runtime of the cycle
*/
WallDuration cycleTime() const;
/**
* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
*/
WallDuration expectedCycleTime() const { return expected_cycle_time_; }
private:
WallTime start_;
WallDuration expected_cycle_time_, actual_cycle_time_;
};
}
#endif
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