rate.cpp

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#include "emc/rate.h"
 
#include <ros/rate.h>
#include <ros/console.h>
 
namespace emc
{
 
Rate::Rate(double freq)
{
    ros::Time::init();
    rate_ = new ros::Rate(freq);
}
 
Rate::~Rate()
{
    if (rate_)
        delete rate_;
}
 
void Rate::sleep()
{
    if (!rate_->sleep())
    {
        ROS_WARN_STREAM("Could not complete the cycle in " << rate_->expectedCycleTime() << ", instead took " << rate_->cycleTime());
    }
}
 
}