Throttler.cpp

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#include "Throttler.h"
 
#include "ArmarXCore/core/time/DateTime.h"
 
namespace armarx
{
    Throttler::Throttler(const float frequency) :
        delay(Duration::MicroSeconds(1 / frequency * 1'000'000))
    {
    }
 
    bool
    Throttler::check(const armarx::DateTime& timestamp) noexcept
    {
        const core::time::Duration timeSinceLastTrue = timestamp - lastTimeTrue;
 
        if (timeSinceLastTrue >= delay)
        {
            lastTimeTrue = timestamp;
            return true;
        }
 
        return false;
    }
 
} // namespace armarx