mrs_lib::ROSTimer Class Reference

ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method. More...

#include <timer.h>

Inheritance diagram for mrs_lib::ROSTimer:

Collaboration diagram for mrs_lib::ROSTimer:

Public Member Functions
template<class ObjectType >
	ROSTimer (const ros::NodeHandle &nh, const ros::Rate &rate, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)
	Constructs the object. More...
template<class ObjectType >
	ROSTimer (const ros::NodeHandle &nh, const ros::Duration &duration, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)
	full constructor More...
virtual void	stop () override
	stop the timer
virtual void	start () override
	start the timer
virtual void	setPeriod (const ros::Duration &duration, const bool reset=true) override
	set the timer period/duration More...
virtual void	setCallback (const std::function< void(const ros::TimerEvent &)> &callback) override
	change the callback method More...
virtual bool	running () override
	returns true if callbacks should be called More...
	ROSTimer (const ROSTimer &)=delete
	ROSTimer (ROSTimer &&)=delete
ROSTimer &	operator= (const ROSTimer &)=delete
ROSTimer &	operator= (ROSTimer &&)=delete
template<class ObjectType >
	ROSTimer (const ros::NodeHandle &nh, const ros::Duration &duration, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, const bool oneshot, const bool autostart)
template<class ObjectType >
	ROSTimer (const ros::NodeHandle &nh, const ros::Rate &rate, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, const bool oneshot, const bool autostart)
Public Member Functions inherited from mrs_lib::MRSTimer
	MRSTimer (const MRSTimer &)=default
	MRSTimer (MRSTimer &&)=default
MRSTimer &	operator= (const MRSTimer &)=default
MRSTimer &	operator= (MRSTimer &&)=default

Additional Inherited Members
Public Types inherited from mrs_lib::MRSTimer
using	callback_t = std::function< void(const ros::TimerEvent &)>

Detailed Description

ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.

Constructor & Destructor Documentation

ROSTimer() [1/2]

template<class ObjectType >

mrs_lib::ROSTimer::ROSTimer	(	const ros::NodeHandle &	nh,
		const ros::Rate &	rate,
		void(ObjectType::*)(const ros::TimerEvent &)	callback,
		ObjectType *const	obj,
		const bool	oneshot = false,
		const bool	autostart = true
	)

Constructs the object.

Template Parameters

ObjectType

Parameters

nh	ROS node handle to be used for creating the underlying ros::Timer object.
rate	rate at which the callback should be called.
ObjectType::*const	callback callback method to be called.
obj	object for the method.
oneshot	whether the callback should only be called once after starting.
autostart	whether the timer should immediately start after construction.

ROSTimer() [2/2]

template<class ObjectType >

mrs_lib::ROSTimer::ROSTimer	(	const ros::NodeHandle &	nh,
		const ros::Duration &	duration,
		void(ObjectType::*)(const ros::TimerEvent &)	callback,
		ObjectType *const	obj,
		const bool	oneshot = false,
		const bool	autostart = true
	)

full constructor

Template Parameters

ObjectType

Parameters

nh	ROS node handle to be used for creating the underlying ros::Timer object.
duration	desired callback period.
ObjectType::*const	callback callback method to be called.
obj	object for the method.
oneshot	whether the callback should only be called once after starting.
autostart	whether the timer should immediately start after construction.

Member Function Documentation

running()

bool mrs_lib::ROSTimer::running ( )

overridevirtual

returns true if callbacks should be called

Returns

true if timer is running

Implements mrs_lib::MRSTimer.

setCallback()

void mrs_lib::ROSTimer::setCallback ( const std::function< void(const ros::TimerEvent &)> &  callback )

overridevirtual

change the callback method

Usable e.g. for running thread with a specific parameter if you bind it using std::bind

Parameters

callback

callback method to be called.

Implements mrs_lib::MRSTimer.

setPeriod()

void mrs_lib::ROSTimer::setPeriod ( const ros::Duration &  duration, const bool  reset = true  )

overridevirtual

set the timer period/duration

Parameters

duration
reset

Implements mrs_lib::MRSTimer.

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

• include/mrs_lib/timer.h
• include/mrs_lib/impl/timer.hpp
• src/timer/timer.cpp