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Fix various issues in TriggerRate #292

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Fix various issues in TriggerRate #292

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63e863d
Fix TriggerRate: trigger already when period is reached (==)
rhaschke Oct 16, 2022
47040bb
Use ros::Duration for period_
rhaschke Oct 27, 2022
161121c
Avoid multiple evaluation of ros::Time::now()
rhaschke Oct 27, 2022
6dfa7f5
Gracefully handle jump back in time
rhaschke Oct 27, 2022
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2 changes: 1 addition & 1 deletion franka_hw/include/franka_hw/trigger_rate.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ class TriggerRate {

private:
ros::Time time_stamp_;
double period_;
ros::Duration period_;
};

}; // namespace franka_hw
5 changes: 3 additions & 2 deletions franka_hw/src/trigger_rate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,9 @@ namespace franka_hw {
TriggerRate::TriggerRate(double rate) : period_(1.0 / rate), time_stamp_(ros::Time::now()) {}

bool TriggerRate::operator()() {
if ((ros::Time::now() - time_stamp_).toSec() > period_) {
time_stamp_ = ros::Time::now();
auto now = ros::Time::now();
if (now - time_stamp_ >= period_ || now < time_stamp_) {
time_stamp_ = now;
return true;
}
return false;
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