update_timer.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name    update_timer.h
 * @brief   For managing plugin update rates
 * @author  Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
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 *  modification, are permitted provided that the following conditions
 *  are met:
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#ifndef FLATLAND_PLUGINS_UPDATE_TIMER_H
#define FLATLAND_PLUGINS_UPDATE_TIMER_H

#include <flatland_server/timekeeper.h>
#include <ros/time.h>

namespace flatland_plugins {

class UpdateTimer {
 public:
  ros::Duration period_;        
  ros::Time last_update_time_;  

  UpdateTimer();

  void SetRate(double rate);

  bool CheckUpdate(const flatland_server::Timekeeper &timekeeper);
};
};

#endif