Made loop_rate_ attribute private; Added setRate and getRate protected functions

include/iri_base_algorithm/iri_base_algorithm.h

@@ -110,16 +110,6 @@ class IriBaseAlgorithm
     */
     ros::NodeHandle private_node_handle_;
 
-   /**
-    * \brief main thread loop rate
-    * 
-    * This value determines the loop frequency of the node main thread function
-    * mainThread() in HZ. It is initialized at construction time. This variable 
-    * may be modified in the node implementation constructor if a desired
-    * frequency is required.
-    */
-    ros::Rate loop_rate_;
-
    /**
     * \brief default main thread frequency
     * 
@@ -179,7 +169,31 @@ class IriBaseAlgorithm
     */
     dynamic_reconfigure::Server<Config> dsrv_;
 
+   /**
+    * \brief main thread loop rate
+    * 
+    * This value determines the loop frequency of the node main thread function
+    * mainThread() in HZ. It is initialized at construction time. This variable 
+    * may be modified in the node implementation constructor if a desired
+    * frequency is required.
+    */
+    ros::Rate loop_rate_;
+
   protected:
+
+    /**
+    * \brief 
+    * 
+    */
+    void setRate(double rate_hz);
+
+
+    /**
+    * \brief 
+    * 
+    */
+    double getRate(void);
+
    /**
     * \brief dynamic reconfigure server callback
     * 
@@ -273,6 +287,19 @@ IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
   pthread_join(this->thread,NULL);
 }
 
+template <class Algorithm>
+void IriBaseAlgorithm<Algorithm>::setRate(double rate_hz)
+{
+  this->loop_rate_=rate_hz;
+}
+
+template <class Algorithm>
+double IriBaseAlgorithm<Algorithm>::getRate(void)
+{
+  return this->loop_rate_;
+}
+
+
 template <class Algorithm>
 void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
 {