TimerBase

agnocast::TimerBase

Base class for Agnocast timers providing periodic callback execution. Defines the common interface for all timer types, including callback execution, clock access, and period storage.

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set_period()

void TimerBase::set_period(std::chrono::nanoseconds period)

Update the timer's period. Aligned with rcl_timer_exchange_period: the already-scheduled next firing keeps its time; only subsequent firings adopt the new period. Throws on an invalidated timer (rcl's equivalent is RCL_RET_TIMER_INVALID).

Parameter	Description
period	New firing period.

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is_steady()

bool TimerBase::is_steady()

Return whether this timer uses a steady clock.

Returns	True if the clock is steady.

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get_clock()

rclcpp::Clock::SharedPtr TimerBase::get_clock()

Get the clock associated with this timer.

Returns	Shared pointer to the clock.