Class robot_dart::Scheduler¶

ClassList > robot_dart > Scheduler

Public Functions¶

Type	Name
	Scheduler (double dt, bool sync=false)
double	current_time () const current time according to the simulation (simulation clock)
double	dt () const dt used by the simulation (simulation clock)
double	it_duration () const
double	last_it_duration () const
double	next_time () const next time according to the simulation (simulation clock)
bool	operator() (int frequency)
double	real_time () const time according to the clock's computer (wall clock)
double	real_time_factor () const
void	reset (double dt, bool sync=false, double current_time=0., double real_time=0.)
bool	schedule (int frequency)
void	set_sync (bool enable)
double	step ()
bool	sync () const

Protected Types¶

Type	Name
typedef std::chrono::high_resolution_clock	clock_t

Protected Attributes¶

Type	Name
double	_average_it_duration = = 0.
int	_current_step = = 0
double	_current_time = = 0.
double	_dt
double	_it_duration = = 0.
clock_t::time_point	_last_iteration_time
int	_max_frequency = = -1
double	_real_start_time = = 0.
double	_real_time = = 0.
double	_simu_start_time = = 0.
clock_t::time_point	_start_time
bool	_sync

Public Functions Documentation¶

function Scheduler¶

inline robot_dart::Scheduler::Scheduler (
    double dt,
    bool sync=false
)

function current_time¶

inline double robot_dart::Scheduler::current_time () const

function dt¶

inline double robot_dart::Scheduler::dt () const

function it_duration¶

inline double robot_dart::Scheduler::it_duration () const

function last_it_duration¶

inline double robot_dart::Scheduler::last_it_duration () const

function next_time¶

inline double robot_dart::Scheduler::next_time () const

function operator()¶

inline bool robot_dart::Scheduler::operator() (
    int frequency
)

function real_time¶

inline double robot_dart::Scheduler::real_time () const

function real_time_factor¶

inline double robot_dart::Scheduler::real_time_factor () const

function reset¶

void robot_dart::Scheduler::reset (
    double dt,
    bool sync=false,
    double current_time=0.,
    double real_time=0.
)

function schedule¶

bool robot_dart::Scheduler::schedule (
    int frequency
)

function set_sync¶

inline void robot_dart::Scheduler::set_sync (
    bool enable
)

synchronize the simulation clock with the wall clock (when possible, i.e. when the simulation is faster than real time)

function step¶

double robot_dart::Scheduler::step ()

call this at the end of the loop (see examples) this will synchronize with real time if requested and increase the counter; returns the real-time (in seconds)

function sync¶

inline bool robot_dart::Scheduler::sync () const

Protected Types Documentation¶

typedef clock_t¶

using robot_dart::Scheduler::clock_t =  std::chrono::high_resolution_clock;

Protected Attributes Documentation¶

variable _average_it_duration¶

double robot_dart::Scheduler::_average_it_duration;

variable _current_step¶

int robot_dart::Scheduler::_current_step;

variable _current_time¶

double robot_dart::Scheduler::_current_time;

variable _dt¶

double robot_dart::Scheduler::_dt;

variable _it_duration¶

double robot_dart::Scheduler::_it_duration;

variable _last_iteration_time¶

clock_t::time_point robot_dart::Scheduler::_last_iteration_time;

variable _max_frequency¶

int robot_dart::Scheduler::_max_frequency;

variable _real_start_time¶

double robot_dart::Scheduler::_real_start_time;

variable _real_time¶

double robot_dart::Scheduler::_real_time;

variable _simu_start_time¶

double robot_dart::Scheduler::_simu_start_time;

variable _start_time¶

clock_t::time_point robot_dart::Scheduler::_start_time;

variable _sync¶

bool robot_dart::Scheduler::_sync;

The documentation for this class was generated from the following file robot_dart/scheduler.hpp