Statistics of past execution periods
Here is a sample execution graphic using the default setting,
'slip', for the
OverrunAction property in the
Rate object. See
OverrunAction (Robotics System Toolbox) for more information on overrun code execution.
The output of
stats = Periods: [0.7 0.11 0.7 0.11] NumPeriods: 4 AveragePeriod: 0.09 StandardDeviation: 0.0231 NumOverruns: 2
stats— Time execution statistics
Time execution statistics, returned as a structure. This structure contains the following fields:
Period — All time periods (returned
in seconds) used to calculate statistics as an indexed array.
stats.Period(end) is the most recent
NumPeriods — Number of elements in
AveragePeriod — Average time in
StandardDeviation — Standard
deviation of all periods in seconds, centered around the mean
NumOverruns — Number of periods with
Rate object for running at 20 Hz.
r = robotics.Rate(2);
Start a loop and control operation using the
for i = 1:30 % Your code goes here waitfor(r); end
Rate object statistics after loop operation.
stats = statistics(r)
stats = struct with fields: Periods: [1x30 double] NumPeriods: 30 AveragePeriod: 0.5000 StandardDeviation: 0.0027 NumOverruns: 0