C++ (Cpp) Timer::isValid Examples

Example #1

File: cmd_vel_smoother.cpp Project: furushchev/cmd_vel_smoother

  void dynConfigCallback(Config &cfg, uint32_t level) {
    boost::mutex::scoped_lock lock(cfg_mutex_);
    x_acc_lim_ = cfg.x_acc_lim;
    y_acc_lim_ = cfg.y_acc_lim;
    yaw_acc_lim_ = cfg.yaw_acc_lim;
    interpolate_max_frame_ = cfg.interpolate_max_frame;

    if(desired_rate_ != cfg.desired_rate) {
      desired_rate_ = cfg.desired_rate;
      if (timer_.isValid()) {
        ros::Duration d = timerDuration();
        timer_.setPeriod(d);
        ROS_INFO_STREAM("timer loop rate is changed to " << 1.0 / d.toSec() << "[Hz]");
      }
    }
  }