BipedalLocomotion::System::IClock Class Reference

IClock is the interface to the clock. More...

#include <System/include/BipedalLocomotion/System/IClock.h>

Public Member Functions
virtual	~IClock ()=default
	Destructor.
virtual std::chrono::nanoseconds	now ()=0
	Get the current time. More...
virtual void	sleepFor (const std::chrono::nanoseconds &sleepDuration)=0
	Blocks the execution of the current thread for at least the specified sleepDuration. More...
virtual void	sleepUntil (const std::chrono::nanoseconds &time)=0
	Blocks the execution of the current thread until specified sleepTime has been reached. More...
virtual void	yield ()=0
	Provides a hint to the implementation to reschedule the execution of threads, allowing other threads to run.

Protected Member Functions
	IClock ()=default
	The constructor is protected. More...

Detailed Description

IClock is the interface to the clock.

The Clock is considered as a singleton. Please use the ClockBuilder to create a clock. The default clock is the System::StdClock which uses only the std methods. To get the current time you can simply use the following line of code

BipedalLocomotion::clock().now();

Constructor & Destructor Documentation

IClock()

BipedalLocomotion::System::IClock::IClock ( )

protecteddefault

The constructor is protected.

Please create the clock with ClockBulder.

Member Function Documentation

now()

virtual std::chrono::nanoseconds BipedalLocomotion::System::IClock::now ( )

pure virtual

Get the current time.

Returns

The current time. The output of the function depends on the concrete implementation.

Note

BipedalLocomotion::clock().now().count() returns a double containing the seconds since epoch.

Implemented in BipedalLocomotion::System::YarpClock, BipedalLocomotion::System::RosClock, and BipedalLocomotion::System::StdClock.

sleepFor()

virtual void BipedalLocomotion::System::IClock::sleepFor ( const std::chrono::nanoseconds &  sleepDuration )

pure virtual

Blocks the execution of the current thread for at least the specified sleepDuration.

Parameters

time	duration to sleep

Implemented in BipedalLocomotion::System::YarpClock, BipedalLocomotion::System::RosClock, and BipedalLocomotion::System::StdClock.

sleepUntil()

virtual void BipedalLocomotion::System::IClock::sleepUntil ( const std::chrono::nanoseconds &  time )

pure virtual

Blocks the execution of the current thread until specified sleepTime has been reached.

Parameters

time	to block until

Implemented in BipedalLocomotion::System::YarpClock, BipedalLocomotion::System::RosClock, and BipedalLocomotion::System::StdClock.

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

• System/include/BipedalLocomotion/System/IClock.h