.. _program_listing_file_include_rclcpp_rate.hpp:

Program Listing for File rate.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_rate.hpp>` (``include/rclcpp/rate.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2014 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__RATE_HPP_
   #define RCLCPP__RATE_HPP_
   
   #include <chrono>
   #include <memory>
   #include <thread>
   
   #include "rclcpp/clock.hpp"
   #include "rclcpp/duration.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/utilities.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   
   class RateBase
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
   
     RCLCPP_PUBLIC
     virtual ~RateBase() {}
   
     RCLCPP_PUBLIC
     virtual bool sleep() = 0;
   
     RCLCPP_PUBLIC
     virtual rcl_clock_type_t get_type() const = 0;
   
     RCLCPP_PUBLIC
     virtual void reset() = 0;
   };
   
   using std::chrono::duration;
   using std::chrono::duration_cast;
   using std::chrono::nanoseconds;
   
   class Rate : public RateBase
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(Rate)
   
     RCLCPP_PUBLIC
     explicit Rate(
       const double rate,
       Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
   
     RCLCPP_PUBLIC
     explicit Rate(
       const Duration & period,
       Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
   
     RCLCPP_PUBLIC
     virtual bool
     sleep();
   
     RCLCPP_PUBLIC
     virtual rcl_clock_type_t
     get_type() const;
   
     RCLCPP_PUBLIC
     virtual void
     reset();
   
     RCLCPP_PUBLIC
     std::chrono::nanoseconds
     period() const;
   
   private:
     RCLCPP_DISABLE_COPY(Rate)
   
     Clock::SharedPtr clock_;
     Duration period_;
     Time last_interval_;
   };
   
   class WallRate : public Rate
   {
   public:
     RCLCPP_PUBLIC
     explicit WallRate(const double rate);
   
     RCLCPP_PUBLIC
     explicit WallRate(const Duration & period);
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__RATE_HPP_