rclcpp::Clock Class Reference

#include <clock.hpp>

Public Member Functions
	Clock (rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Default c'tor. More...
	~Clock ()
Time	now ()
bool	ros_time_is_active ()
rcl_clock_t *	get_clock_handle () noexcept
	Return the rcl_clock_t clock handle. More...
rcl_clock_type_t	get_clock_type () const noexcept
std::mutex &	get_clock_mutex () noexcept
	Get the clock's mutex. More...
JumpHandler::SharedPtr	create_jump_callback (JumpHandler::pre_callback_t pre_callback, JumpHandler::post_callback_t post_callback, const rcl_jump_threshold_t &threshold)

Constructor & Destructor Documentation

Clock()

rclcpp::Clock::Clock ( rcl_clock_type_t  clock_type = RCL_SYSTEM_TIME )

explicit

Default c'tor.

Initializes the clock instance with the given clock_type.

Parameters

clock_type

type of the clock.

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw.

~Clock()

rclcpp::Clock::~Clock

(

)

Member Function Documentation

now()

Time rclcpp::Clock::now

(

)

Returns current time from the time source specified by clock_type.

Returns

current time.

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw.

ros_time_is_active()

bool rclcpp::Clock::ros_time_is_active

(

)

Returns the clock of the type RCL_ROS_TIME is active.

Returns

true if the clock is active

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw if the current clock does not have the clock_type RCL_ROS_TIME.

get_clock_handle()

rcl_clock_t* rclcpp::Clock::get_clock_handle ( )

noexcept

Return the rcl_clock_t clock handle.

get_clock_type()

rcl_clock_type_t rclcpp::Clock::get_clock_type ( ) const

noexcept

get_clock_mutex()

std::mutex& rclcpp::Clock::get_clock_mutex ( )

noexcept

Get the clock's mutex.

create_jump_callback()

JumpHandler::SharedPtr rclcpp::Clock::create_jump_callback	(	JumpHandler::pre_callback_t	pre_callback,
		JumpHandler::post_callback_t	post_callback,
		const rcl_jump_threshold_t &	threshold
	)

These callback functions must remain valid as long as the returned shared pointer is valid.

Function will register callbacks to the callback queue. On time jump all callbacks will be executed whose threshold is greater then the time jump; The logic will first call selected pre_callbacks and then all selected post_callbacks.

Function is only applicable if the clock_type is RCL_ROS_TIME

Parameters

pre_callback	Must be non-throwing
post_callback	Must be non-throwing.
threshold	Callbacks will be triggered if the time jump is greater then the threshold.

Exceptions

anything	rclcpp::exceptions::throw_from_rcl_error can throw.
std::bad_alloc	if the allocation of the JumpHandler fails.

Warning

the instance of the clock must remain valid as long as any created JumpHandler.

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

• include/rclcpp/clock.hpp