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Synchronizer.h
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Created
Mon, Sep 23, 08:08
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769 B
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text/x-c++
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Wed, Sep 25, 08:08 (1 d, 23 h)
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21037037
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R6622 liboncilla
Synchronizer.h
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#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/Synchronizer.h>
#include "common.h"
namespace
rci
{
namespace
oncilla
{
/**
* Synchronizer
* Different OncillaSynchronizers may be for example:
* * Update with a given frequency
* ** Send data every time
* ** Send only if new data
* * Update only if new data (event-based)
* * Triggered from robot side (e.g. FRI)
*/
class
Synchronizer
:
public
::
rci
::
Synchronizer
{
public:
typedef
boost
::
shared_ptr
<
rci
::
oncilla
::
Synchronizer
>
Ptr
;
Synchronizer
(
const
std
::
string
&
name
);
virtual
~
Synchronizer
();
/**
*
*/
friend
std
::
ostream
&
operator
<<
(
std
::
ostream
&
os
,
const
Synchronizer
&
val
);
virtual
double
lastProcessTimeStep
()
const
=
0
;
};
}
}
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