Added definition of getStateUpdateFrequency. (#463)

moveit · Mar 12, 2017 · d18fc72 · d18fc72
1 parent eac013b
commit d18fc72
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/...ing/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/...ing/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -304,7 +304,13 @@ class PlanningSceneMonitor : private boost::noncopyable
   void setStateUpdateFrequency(double hz);
 
   /** @brief Get the maximum frequency (Hz) at which the current state of the planning scene is updated.*/
-  double getStateUpdateFrequency();
+  double getStateUpdateFrequency() const
+  {
+    if (!dt_state_update_.isZero())
+      return 1.0 / dt_state_update_.toSec();
+    else
+      return 0.0;
+  }
 
   /** @brief Start the scene monitor
    *  @param scene_topic The name of the planning scene topic