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C++ ROS Client Library API
node_clock.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_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
17 
18 #include "rclcpp/clock.hpp"
19 #include "rclcpp/macros.hpp"
27 
28 namespace rclcpp
29 {
30 namespace node_interfaces
31 {
32 
35 {
36 public:
38 
40  explicit NodeClock(
41  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
42  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
43  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
44  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
45  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging);
46 
48  virtual
49  ~NodeClock();
50 
53  rclcpp::Clock::SharedPtr
54  get_clock() override;
55 
58  rclcpp::Clock::ConstSharedPtr
59  get_clock() const override;
60 
61 private:
63 
64  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
65  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
66  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
67  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
68  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
69 
70  rclcpp::Clock::SharedPtr ros_clock_;
71 };
72 
73 } // namespace node_interfaces
74 } // namespace rclcpp
75 
76 #endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
node_graph_interface.hpp
RCLCPP_DISABLE_COPY
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
rclcpp::node_interfaces::NodeClock::~NodeClock
virtual ~NodeClock()
rclcpp::node_interfaces::NodeClock::NodeClock
NodeClock(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging)
RCLCPP_SMART_PTR_ALIASES_ONLY
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
clock.hpp
rclcpp
This header provides the get_node_base_interface() template function.
Definition: allocator_common.hpp:24
node_topics_interface.hpp
RCLCPP_PUBLIC
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
macros.hpp
node_base_interface.hpp
node_services_interface.hpp
node_clock_interface.hpp
rclcpp::node_interfaces::NodeClock
Implementation of the NodeClock part of the Node API.
Definition: node_clock.hpp:34
visibility_control.hpp
rclcpp::node_interfaces::NodeClockInterface
Pure virtual interface class for the NodeClock part of the Node API.
Definition: node_clock_interface.hpp:28
rclcpp::node_interfaces::NodeClock::get_clock
rclcpp::Clock::SharedPtr get_clock() override
Get a clock which will be kept up to date by the node.
node_logging_interface.hpp