BipedalLocomotion::System::RosClock Class Reference

RosClock implements the IClock interface using ros functions. More...

#include <System/RosImplementation/include/BipedalLocomotion/System/RosClock.h>

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

Additional Inherited Members
Protected Member Functions inherited from BipedalLocomotion::System::IClock
	IClock ()=default
	The constructor is protected. More...

Detailed Description

RosClock implements the IClock interface using ros functions.

The clock can be easily used as follows

#include <BipedalLocomotion/System/Clock.h>
#include <BipedalLocomotion/System/RosClock.h>
 
#include <chrono>
#include <memory>
 
int main(int argc, char *argv[])
{
   // Change the clock
   BipedalLocomotion::System::ClockBuilder::setFactory(std::make_shared<BipedalLocomotion::System::RosClockFactory>(argc, argv));
 
   // Add a sleep
   BipedalLocomotion::clock().sleepFor(2000ms);
 
   auto start = BipedalLocomotion::clock().now();
   foo();
   auto end = BipedalLocomotion::clock().now();
   std::chrono::duration<double, std::milli> elapsed = end - start;
 
   return 0;
}

Member Function Documentation

now()

std::chrono::nanoseconds RosClock::now ( )

finalvirtual

Get ROS current time.

Returns

the current time computed from rclcpp::Clock::now()

Note

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

Implements BipedalLocomotion::System::IClock.

sleepFor()

void RosClock::sleepFor ( const std::chrono::nanoseconds &  sleepDuration )

finalvirtual

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

Parameters

time	duration to sleep

Implements BipedalLocomotion::System::IClock.

sleepUntil()

void RosClock::sleepUntil ( const std::chrono::nanoseconds &  sleepTime )

finalvirtual

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

Parameters

time	to block until

Implements BipedalLocomotion::System::IClock.

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

• System/RosImplementation/include/BipedalLocomotion/System/RosClock.h
• System/RosImplementation/src/RosClock.cpp