smacc2::ISmaccUpdatable Class Reference

#include <smacc_updatable.hpp>

Inheritance diagram for smacc2::ISmaccUpdatable:

Collaboration diagram for smacc2::ISmaccUpdatable:

Public Member Functions
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Protected Member Functions
virtual void	update ()=0

Private Attributes
std::optional< rclcpp::Duration >	periodDuration_
std::optional< rclcpp::Time >	lastUpdate_

Detailed Description

Definition at line 32 of file smacc_updatable.hpp.

Constructor & Destructor Documentation

ISmaccUpdatable() [1/2]

smacc2::ISmaccUpdatable::ISmaccUpdatable

(

)

Definition at line 25 of file smacc_updatable.cpp.

{}

ISmaccUpdatable() [2/2]

smacc2::ISmaccUpdatable::ISmaccUpdatable ( rclcpp::Duration  duration )

explicit

Definition at line 27 of file smacc_updatable.cpp.

: periodDuration_(duration) {}

Member Function Documentation

executeUpdate()

void smacc2::ISmaccUpdatable::executeUpdate

(

rclcpp::Node::SharedPtr

node

)

Definition at line 31 of file smacc_updatable.cpp.

{
  bool triggerUpdateMethod = true;
  if (periodDuration_)
  {
    auto now = node->get_clock()->now();
 
    if (!lastUpdate_)
    {
      lastUpdate_ = now;
    }
 
    auto elapsed = now - *lastUpdate_;
    triggerUpdateMethod = elapsed > *periodDuration_;
    if (triggerUpdateMethod)
    {
      this->lastUpdate_ = now;
    }
  }
 
  if (triggerUpdateMethod)
  {
    this->update();
  }
}

References lastUpdate_, periodDuration_, and update().

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setUpdatePeriod()

void smacc2::ISmaccUpdatable::setUpdatePeriod

(

rclcpp::Duration

duration

)

Definition at line 29 of file smacc_updatable.cpp.

{ periodDuration_ = duration; }

References periodDuration_.

update()

virtual void smacc2::ISmaccUpdatable::update ( )

protectedpure virtual

Implemented in cl_ros_publisher::CbDefaultPublishLoop, cl_moveit2z::CbMoveEndEffectorTrajectory, cl_moveit2z::CpTFListener, cl_nav2z::Pose, cl_nav2z::CpWaypointsVisualizer, cl_nitrosz::Pose, cl_nitrosz::CpWaypointsVisualizer, smacc2::event_generators::EgConditionalGenerator, and smacc2::state_reactors::EgRandomGenerator.

Referenced by executeUpdate().

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Member Data Documentation

lastUpdate_

std::optional<rclcpp::Time> smacc2::ISmaccUpdatable::lastUpdate_

private

Definition at line 46 of file smacc_updatable.hpp.

Referenced by executeUpdate().

periodDuration_

std::optional<rclcpp::Duration> smacc2::ISmaccUpdatable::periodDuration_

private

Definition at line 45 of file smacc_updatable.hpp.

Referenced by executeUpdate(), and setUpdatePeriod().

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

• smacc2/include/smacc2/smacc_updatable.hpp
• smacc2/src/smacc2/smacc_updatable.cpp