smacc_updatable.cpp

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#include <smacc/smacc_updatable.h>
 
namespace smacc
{
 
ISmaccUpdatable::ISmaccUpdatable()
    : lastUpdate_(0)
{
}
 
ISmaccUpdatable::ISmaccUpdatable(ros::Duration duration)
    : lastUpdate_(0),
      periodDuration_(duration)
{
}
 
void ISmaccUpdatable::setUpdatePeriod(ros::Duration duration)
{
    periodDuration_ = duration;
}
 
void ISmaccUpdatable::executeUpdate()
{
    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();
    }
}
}