rclcpp::TimerBase Class Reference

#include <timer.hpp>

Inheritance diagram for rclcpp::TimerBase:

Public Member Functions
	TimerBase (std::chrono::nanoseconds period)
	~TimerBase ()
void	cancel ()
void	reset ()
virtual void	execute_callback ()=0
const rcl_timer_t *	get_timer_handle ()
std::chrono::nanoseconds	time_until_trigger ()
	Check how long the timer has until its next scheduled callback. More...
virtual bool	is_steady ()=0
	Is the clock steady (i.e. is the time between ticks constant?) More...
bool	is_ready ()
	Check if the timer is ready to trigger the callback. More...

Protected Attributes
rcl_timer_t	timer_handle_ = rcl_get_zero_initialized_timer()

Constructor & Destructor Documentation

TimerBase()

rclcpp::TimerBase::TimerBase ( std::chrono::nanoseconds  period )

explicit

~TimerBase()

rclcpp::TimerBase::~TimerBase

(

)

Member Function Documentation

cancel()

void rclcpp::TimerBase::cancel

(

)

reset()

void rclcpp::TimerBase::reset

(

)

execute_callback()

virtual void rclcpp::TimerBase::execute_callback ( )

pure virtual

Implemented in rclcpp::GenericTimer< FunctorT, Clock, std::enable_if<(rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value) &&Clock::is_steady >::type * >.

get_timer_handle()

const rcl_timer_t* rclcpp::TimerBase::get_timer_handle

(

)

time_until_trigger()

std::chrono::nanoseconds rclcpp::TimerBase::time_until_trigger

(

)

Check how long the timer has until its next scheduled callback.

Returns

A std::chrono::duration representing the relative time until the next callback.

is_steady()

virtual bool rclcpp::TimerBase::is_steady ( )

pure virtual

Is the clock steady (i.e. is the time between ticks constant?)

Returns

True if the clock used by this timer is steady.

Implemented in rclcpp::GenericTimer< FunctorT, Clock, std::enable_if<(rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value) &&Clock::is_steady >::type * >.

is_ready()

bool rclcpp::TimerBase::is_ready

(

)

Check if the timer is ready to trigger the callback.

This function expects its caller to immediately trigger the callback after this function, since it maintains the last time the callback was triggered.

Returns

True if the timer needs to trigger.

Member Data Documentation

timer_handle_

rcl_timer_t rclcpp::TimerBase::timer_handle_ = rcl_get_zero_initialized_timer()

protected

---

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

• rclcpp/timer.hpp