From 7cc4da0d23e96c353e39a51caf9f93a4ef883317 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Wed, 3 Jul 2019 13:00:34 +0200
Subject: [PATCH] Made loop_rate_ attribute private; Added setRate and getRate
protected functions
---
.../iri_base_algorithm/iri_base_algorithm.h | 47 +++++++++++++++----
1 file changed, 37 insertions(+), 10 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 5c02b06..84967ad 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/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)
{
--
GitLab