trajectory_monitor_middleware_handle.cpp

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/* Author: Abishalini Sivaraman */
 
#include <moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp>
#include <limits>
 
namespace planning_scene_monitor
{
planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::TrajectoryMonitorMiddlewareHandle(double sampling_frequency)
{
  setRate(sampling_frequency);
}
 
void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::setRate(double sampling_frequency)
{
  if (sampling_frequency > std::numeric_limits<double>::epsilon())
  {
    rate_ = std::make_unique<rclcpp::Rate>(sampling_frequency);
  }
}
 
void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::sleep()
{
  if (rate_)
  {
    rate_->sleep();
  }
}
}  // namespace planning_scene_monitor