rclcpp  master
C++ ROS Client Library API
node_clock_interface.hpp
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1 // Copyright 2017 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_CLOCK_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
17 
19 #include "rclcpp/clock.hpp"
20 #include "rclcpp/macros.hpp"
22 
23 namespace rclcpp
24 {
25 namespace node_interfaces
26 {
27 
30 {
31 public:
33 
35  virtual
36  ~NodeClockInterface() = default;
37 
40  virtual
41  rclcpp::Clock::SharedPtr
42  get_clock() = 0;
43 };
44 
45 } // namespace node_interfaces
46 } // namespace rclcpp
47 
48 #endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24
virtual rclcpp::Clock::SharedPtr get_clock()=0
Get a ROS clock which will be kept up to date by the node.
Pure virtual interface class for the NodeClock part of the Node API.
Definition: node_clock_interface.hpp:29
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50