rclcpp
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C++ ROS Client Library API
include
rclcpp
node_interfaces
node_clock_interface.hpp
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// Copyright 2017 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
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#include "
rclcpp/clock.hpp
"
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#include "
rclcpp/macros.hpp
"
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#include "
rclcpp/visibility_control.hpp
"
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namespace
rclcpp
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{
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namespace
node_interfaces
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{
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class
NodeClockInterface
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{
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public
:
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RCLCPP_SMART_PTR_ALIASES_ONLY
(
NodeClockInterface
)
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RCLCPP_PUBLIC
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virtual
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~NodeClockInterface
() =
default
;
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RCLCPP_PUBLIC
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virtual
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rclcpp::Clock::SharedPtr
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get_clock
() = 0;
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RCLCPP_PUBLIC
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virtual
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rclcpp::Clock::ConstSharedPtr
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get_clock
()
const
= 0;
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};
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}
// namespace node_interfaces
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}
// namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
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
RCLCPP_PUBLIC
#define RCLCPP_PUBLIC
Definition:
visibility_control.hpp:50
macros.hpp
rclcpp::node_interfaces::NodeClockInterface::~NodeClockInterface
virtual ~NodeClockInterface()=default
visibility_control.hpp
rclcpp::node_interfaces::NodeClockInterface::get_clock
virtual rclcpp::Clock::SharedPtr get_clock()=0
Get a ROS clock which will be kept up to date by the node.
rclcpp::node_interfaces::NodeClockInterface
Pure virtual interface class for the NodeClock part of the Node API.
Definition:
node_clock_interface.hpp:28
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