rate_controller.hpp

// Copyright (c) 2018 Intel Corporation
//
// 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 NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__RATE_CONTROLLER_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__RATE_CONTROLLER_HPP_
 
#include <chrono>
#include <string>
 
#include "behaviortree_cpp/decorator_node.h"
 
namespace nav2_behavior_tree
{
 
class RateController : public BT::DecoratorNode
{
public:
  RateController(
    const std::string & name,
    const BT::NodeConfiguration & conf);
 
  void initialize();
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<double>("hz", 10.0, "Rate")
    };
  }
 
private:
  BT::NodeStatus tick() override;
 
  std::chrono::time_point<std::chrono::high_resolution_clock> start_;
  double period_;
  bool first_time_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__RATE_CONTROLLER_HPP_