vpTime Namespace Reference

Functions
VISP_EXPORT std::string	getDateTime (const std::string &format="%Y/%m/%d %H:%M:%S")
VISP_EXPORT double	getMinTimeForUsleepCall ()
VISP_EXPORT double	measureTimeSecond ()
VISP_EXPORT double	measureTimeMs ()
VISP_EXPORT double	measureTimeMicros ()
VISP_EXPORT void	sleepMs (double t)
VISP_EXPORT int	wait (double t0, double t)
VISP_EXPORT void	wait (double t)

Detailed Description

Time management and measurement.

The example below shows how to synchronize a loop to a given framerate.

#include <visp3/core/vpTime.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  double t;
  for ( ; ; ) {
    t = vpTime::measureTimeMs();
    ...
    vpTime::wait(t, 40); // Loop time is set to 40 ms, ie 25 Hz
  }
}

Function Documentation

getDateTime()

VISP_EXPORT std::string vpTime::getDateTime

(

const std::string &

format = "%Y/%m/%d %H:%M:%S"

)

Examples

catchImageLoadSave.cpp, catchIoEXR.cpp, catchIoPFM.cpp, grabRealSense2.cpp, grabV4l2MultiCpp11Thread.cpp, perfImageLoadSave.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, tutorial-hsv-range-tuner.cpp, visp-calibrate-camera.cpp, visp-read-rs-dataset.cpp, and visp-save-rs-dataset.cpp.

getMinTimeForUsleepCall()

VISP_EXPORT double vpTime::getMinTimeForUsleepCall

(

)

Referenced by vpRobotWireFrameSimulator::setSamplingTime(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

measureTimeMicros()

VISP_EXPORT double vpTime::measureTimeMicros

(

)

Examples

ClassUsingDisplayPCL.cpp, pf-nonlinear-complex-example.cpp, pf-nonlinear-example.cpp, tutorial-canny-hsv.cpp, tutorial-canny.cpp, tutorial-circle-hough.cpp, tutorial-pf-curve-fitting-all.cpp, tutorial-pf-curve-fitting-pf.cpp, and tutorial-pf.cpp.

Referenced by vpParticleFilter< MeasurementsType >::vpParticleFilter().

measureTimeMs()

VISP_EXPORT double vpTime::measureTimeMs

(

)

Return the time in milliseconds since January 1st 1970.

See also

measureTimeMicros(), measureTimeSecond()

Examples

AROgre.cpp, ClassUsingDisplayPCL.cpp, SickLDMRS-Acq.cpp, SickLDMRS-Process.cpp, displaySequence.cpp, grab1394CMU.cpp, grab1394Two.cpp, grabDirectShow.cpp, grabDirectShowMulti.cpp, grabDisk.cpp, grabDiskFloat.cpp, grabRealSense2.cpp, grabRealSense2_T265.cpp, grabV4l2.cpp, grabV4l2MultiCpp11Thread.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, movePioneer.cpp, quadprog.cpp, quadprog_eq.cpp, sendMocapToPixhawk.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS-EyeToHand-Lcur_cVe_eJe.cpp, servoFrankaIBVS-EyeToHand-Lcur_cVf_fVe_eJe.cpp, servoFrankaIBVS-EyeToHand-Ldes_cVf_fVe_eJe.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPolygon.cpp, servoPixhawkDroneIBVS.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testAutoThreshold.cpp, testColVector.cpp, testComedi.cpp, testConnectedComponents.cpp, testContours.cpp, testFeatureSegment.cpp, testFloodFill.cpp, testForceTorqueAti.cpp, testForceTorqueAtiNetFTSensor.cpp, testForceTorqueIitSensor.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testHistogram.cpp, testImageDifference.cpp, testImageFilter.cpp, testImageGetValue.cpp, testImageNormalizedCorrelation.cpp, testImageTemplateMatching.cpp, testImgproc.cpp, testKeyPoint-6.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testMouseEvent.cpp, testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_pcl.cpp, testPerformanceLUT.cpp, testPixhawkDroneKeyboard.cpp, testPixhawkRoverVelocityControl.cpp, testPolygon.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_odometry.cpp, testRealSense2_T265_undistort.cpp, testRobotBebop2.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testSvd.cpp, testTime.cpp, testTukeyEstimator.cpp, testUndistortImage.cpp, trackDot.cpp, trackDot2.cpp, trackKltOpencv.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-compare-auto-gamma.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-face-detector-live.cpp, tutorial-grabber-1394.cpp, tutorial-grabber-basler-pylon.cpp, tutorial-grabber-bebop2.cpp, tutorial-grabber-flycapture.cpp, tutorial-grabber-opencv.cpp, tutorial-grabber-realsense-T265.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-structure-core.cpp, tutorial-grabber-v4l2.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, tutorial-klt-tracker.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-read.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-save.cpp, tutorial-megapose-live-single-object-tracking.cpp, tutorial-panda3d-renderer.cpp, tutorial-pf-curve-fitting-all.cpp, tutorial-pf-curve-fitting-lms.cpp, tutorial-pf-curve-fitting-pf.cpp, tutorial-pf.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-points-realsense-T265.cpp, tutorial-rbt-realsense.cpp, tutorial-rbt-sequence.cpp, tutorial-template-tracker.cpp, tutorial-video-manipulation.cpp, tutorial-video-reader.cpp, visp-read-rs-dataset.cpp, and visp-save-rs-dataset.cpp.

Referenced by vpKeyPoint::computePose(), vpKeyPoint::computePose(), vpKeyPoint::detect(), vpRBTrackingTimings::endTimer(), vpKeyPoint::extract(), vpKeyPoint::match(), ClassUsingDisplayPCL::runDemo(), vpQbSoftHand::setPosition(), vpSimulatorAfma6::setPosition(), vpChrono::start(), vpRBTrackingTimings::startTimer(), vpChrono::stop(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorViper850::vpSimulatorViper850(), and vpForceTorqueAtiNetFTSensor::waitForNewData().

measureTimeSecond()

VISP_EXPORT double vpTime::measureTimeSecond

(

)

Examples

SickLDMRS-Process.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testSerialRead.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsJointVelocity.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-grabber-opencv-threaded.cpp, and tutorial-grabber-v4l2-threaded.cpp.

Referenced by vpSimulatorAfma6::getPosition(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorAfma6::getVelocity(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorViper850::getVelocity(), and vpSickLDMRS::measure().

sleepMs()

VISP_EXPORT void vpTime::sleepMs

(

double

t

)

Examples

frankaGripper.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testPixhawkRoverVelocityControl.cpp, testQbSoftHand.cpp, testRobotFlirPtu.cpp, testVirtuoseHapticBox.cpp, testVirtuoseJointLimits.cpp, testVirtuosePeriodicFunction.cpp, trackMeEllipse.cpp, trackMeLine.cpp, and tutorial-viewer.cpp.

Referenced by vpForceTorqueIitSensor::connected(), vpRobotBebop2::doFlatTrim(), vpPlot::navigate(), vpRobotBebop2::resetAllSettings(), vpRobotBebop2::setCameraOrientation(), vpRobotBebop2::setCameraPan(), vpRobotBebop2::setCameraTilt(), vpRobotBebop2::setExposure(), vpRobotBebop2::setPosition(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBebop2::setStreamingMode(), vpRobotBebop2::setVideoResolution(), vpRobotBebop2::startStreaming(), vpRobotBebop2::stopStreaming(), vpRobotBebop2::takeOff(), and vpForceTorqueAtiNetFTSensor::waitForNewData().

wait() [1/2]

VISP_EXPORT void vpTime::wait

(

double

t

)

wait() [2/2]

VISP_EXPORT int vpTime::wait	(	double	t0,
		double	t )

Examples

AROgre.cpp, AROgreBasic.cpp, ClassUsingDisplayPCL.cpp, displaySequence.cpp, grab1394Two.cpp, grabDisk.cpp, grabDiskFloat.cpp, keyboardControlBebop2.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltTracking.cpp, moveBiclops.cpp, movePioneer.cpp, perfGenericTracker.cpp, poseVirtualVS.cpp, ringLight.cpp, sendMocapToPixhawk.cpp, servoBebop2.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoMomentImage.cpp, servoMomentPolygon.cpp, servoPixhawkDroneIBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, testComedi.cpp, testFeatureSegment.cpp, testForceTorqueAti.cpp, testForceTorqueAtiNetFTSensor.cpp, testForceTorqueIitSensor.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaGetPose.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testMouseEvent.cpp, testPixhawkDroneKeyboard.cpp, testPixhawkDroneTakeoff.cpp, testPixhawkRoverVelocityControl.cpp, testRealSense2_SR300.cpp, testRobotBebop2.cpp, testSerialRead.cpp, testTime.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsGetData.cpp, testUniversalRobotsJointVelocity.cpp, testVirtuoseAfma6.cpp, trackMeNurbs.cpp, tutorial-blob-auto-tracker.cpp, tutorial-circle-hough.cpp, tutorial-event-keyboard.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-structure-core.cpp, tutorial-grabber-v4l2-threaded.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-klt-tracker-live.cpp, tutorial-klt-tracker.cpp, tutorial-mb-generic-tracker-read.cpp, tutorial-megapose-live-single-object-tracking.cpp, tutorial-pf.cpp, tutorial-pioneer-robot.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-rbt-realsense.cpp, tutorial-template-tracker.cpp, tutorial-ukf.cpp, tutorial-video-manipulation.cpp, tutorial-video-reader.cpp, visp-calibrate-camera.cpp, and visp-read-rs-dataset.cpp.

Referenced by vpRobotViper650::biasForceTorqueSensor(), vpRobotViper850::biasForceTorqueSensor(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::init(), vpTemplateTrackerZone::initClick(), vpSimulator::initMainApplication(), vpPylonGrabberGigE::loadUserSet(), vpPylonGrabberUsb::loadUserSet(), vpSimulator::mainLoop(), vp1394TwoGrabber::resetBus(), ClassUsingDisplayPCL::runDemo(), vpPylonGrabberGigE::saveUserSet(), vpPylonGrabberUsb::saveUserSet(), vpFlyCaptureGrabber::setCameraPower(), vpQbSoftHand::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotBiclops::setRobotState(), vpForceTorqueIitSensor::startStreaming(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().