#include <smacc_updatable.h>

Inheritance diagram for smacc::ISmaccUpdatable:

Collaboration diagram for smacc::ISmaccUpdatable:

Public Member Functions
	ISmaccUpdatable ()

	ISmaccUpdatable (ros::Duration duration)

void	executeUpdate ()

void	setUpdatePeriod (ros::Duration duration)

Protected Member Functions
virtual void	update ()=0

Private Attributes
boost::optional< ros::Duration >	periodDuration_

ros::Time	lastUpdate_

Detailed Description

Definition at line 15 of file smacc_updatable.h.

Constructor & Destructor Documentation

◆ ISmaccUpdatable() [1/2]

smacc::ISmaccUpdatable::ISmaccUpdatable ( )

Definition at line 6 of file smacc_updatable.cpp.

    : lastUpdate_(0)
{
}

◆ ISmaccUpdatable() [2/2]

smacc::ISmaccUpdatable::ISmaccUpdatable ( ros::Duration duration )

Definition at line 11 of file smacc_updatable.cpp.

    : lastUpdate_(0),
      periodDuration_(duration)
{
}

Member Function Documentation

◆ executeUpdate()

void smacc::ISmaccUpdatable::executeUpdate ( )

Definition at line 22 of file smacc_updatable.cpp.

{
    bool update = true;
    if (periodDuration_)
    {
        auto now = ros::Time::now();
        auto elapsed = now - this->lastUpdate_;
        update = elapsed > *periodDuration_;
        if(update)
        {
            this->lastUpdate_ = now;
        }
    }
 
    if (update)
    {
        this->update();
    }
}