smacc_updatable.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <chrono>
#include <boost/optional.hpp>
#include <ros/duration.h>
#include <ros/time.h>
 
namespace smacc
{
class ISmaccUpdatable
{
public:
    ISmaccUpdatable();
    ISmaccUpdatable(ros::Duration duration);
 
    void executeUpdate();
    void setUpdatePeriod(ros::Duration duration);
 
protected:
    virtual void update() = 0;
 
private:
    boost::optional<ros::Duration> periodDuration_;
    ros::Time lastUpdate_;
};
} // namespace smacc