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#include <iostream>
#include <thread>
#include <pcl/common/time_trigger.h>
#include <pcl/common/time.h>
using namespace std::chrono_literals;
using namespace pcl;
double global_time;
void callback ()
{
static double last_time = pcl::getTime ();
double elapsed = pcl::getTime () - last_time;
last_time = pcl::getTime ();
std::cout << "global fn: " << pcl::getTime () - global_time << " :: " << elapsed << std::endl;
std::this_thread::sleep_for(1ms);
}
class Dummy
{
public:
void myTimer ()
{
static double last_time = pcl::getTime ();
double elapsed = pcl::getTime () - last_time;
last_time = pcl::getTime ();
std::cout << "member fn: " << pcl::getTime () - global_time << " :: " << elapsed << std::endl;
}
};
int main ()
{
TimeTrigger trigger (10.0, callback);
Dummy dummy;
global_time = pcl::getTime ();
trigger.start ();
std::this_thread::sleep_for(2s);
trigger.registerCallback ([&]{ dummy.myTimer (); });
std::this_thread::sleep_for(3s);
trigger.setInterval (0.2);
std::this_thread::sleep_for(2s);
return 0;
}
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