BipedalLocomotion::System::YarpClock class final
#include <BipedalLocomotion/System/YarpClock.h>

YarpClock implements the IClock interface using yarp functions.

The clock can be easily used as follows

#include <BipedalLocomotion/System/Clock.h>
#include <BipedalLocomotion/System/YarpClock.h>

// Change the clock
BipedalLocomotion::System::ClockBuilder::setFactory(std::make_shared<BipedalLocomotion::System::YarpClockFactory>()));

auto start = BipedalLocomotion::clock().now();
foo();
auto end = BipedalLocomotion::clock().now();
std::chrono::duration<double, std::milli> elapsed = end-start;

Base classes

class IClock
IClock is the interface to the clock.

Public functions

auto now() -> std::chrono::nanoseconds final
Get YARP current time.
void sleepFor(const std::chrono::nanoseconds& sleepDuration) final
Blocks the execution of the current thread for at least the specified sleepDuration.
void sleepUntil(const std::chrono::nanoseconds& sleepTime) final
Blocks the execution of the current thread until specified sleepTime has been reached.
void yield() final
Provides a hint to the implementation to reschedule the execution of threads, allowing other threads to run.

Function documentation

std::chrono::nanoseconds BipedalLocomotion::System::YarpClock::now() final

Get YARP current time.

Returns the current time computed from yarp::os::Time::now()