rclcpp  master
C++ ROS Client Library API
node_timers_interface.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
17 
19 #include "rclcpp/macros.hpp"
20 #include "rclcpp/timer.hpp"
22 
23 namespace rclcpp
24 {
25 namespace node_interfaces
26 {
27 
30 {
31 public:
33 
34 
36  virtual
37  void
38  add_timer(
39  rclcpp::timer::TimerBase::SharedPtr timer,
40  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
41 };
42 
43 } // namespace node_interfaces
44 } // namespace rclcpp
45 
46 #endif // RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
Definition: allocator_common.hpp:24
Pure virtual interface class for the NodeTimers part of the Node API.
Definition: node_timers_interface.hpp:29
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual void add_timer(rclcpp::timer::TimerBase::SharedPtr timer, rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)=0
Add a timer to the node.