fsb::PeriodicTimer Class Reference

Detailed Description

Compute forward kinematics.

#include <fsb_timing.h>

Collaboration diagram for fsb::PeriodicTimer:

Public Member Functions
TimingError	initialize (const timespec &step_size)
	Initialize periodic timer.
TimingError	start ()
	Start timer.
TimingError	step (real_t &nominal_time, real_t &remainder)
	Wait for next step.

Member Function Documentation

initialize()

TimingError fsb::PeriodicTimer::initialize

(

const timespec &

step_size

)

Initialize periodic timer.

Parameters

step_size

Timer step size

Returns

Timing error code

start()

TimingError fsb::PeriodicTimer::start

(

)

Start timer.

The current time from the high-resolution monotonic timer will be used.

Returns

Timing error code

step()

TimingError fsb::PeriodicTimer::step	(	real_t &	nominal_time,
		real_t &	remainder
	)

Wait for next step.

The target time is based on number of times step is called after calling start. The actual elapsed time is equal to the addition of the nominal time and remainder.

Parameters

nominal_time	Target elapsed time since calling start()
remainder	Actual time delay after target elapsed time

Returns

Timing error code

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The documentation for this class was generated from the following files:

• fsb-posix/include/fsb_timing.h
• fsb-posix/src/fsb_timing.cpp