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 
18 #include "rclcpp/clock.hpp"
19 #include "rclcpp/macros.hpp"
21 
22 namespace rclcpp
23 {
24 namespace node_interfaces
25 {
26 
29 {
30 public:
32 
34  virtual
35  ~NodeClockInterface() = default;
36 
39  virtual
40  rclcpp::Clock::SharedPtr
41  get_clock() = 0;
42 
45  virtual
46  rclcpp::Clock::ConstSharedPtr
47  get_clock() const = 0;
48 };
49 
50 } // namespace node_interfaces
51 } // namespace rclcpp
52 
53 #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