Diff: ros_lib/ros/duration.h

Revision:

1:afa33e06a2ca

Parent:

0:020db18a476d

--- a/ros_lib/ros/duration.h	Wed Oct 30 14:59:49 2019 +0000
+++ b/ros_lib/ros/duration.h	Tue Nov 12 13:54:52 2019 +0000
@@ -38,36 +38,29 @@
 #include <math.h>
 #include <stdint.h>
 
-namespace ros
-{
-
-void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
+namespace ros {
 
-class Duration
-{
-public:
-  int32_t sec, nsec;
+  void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
 
-  Duration() : sec(0), nsec(0) {}
-  Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
+  class Duration
   {
-    normalizeSecNSecSigned(sec, nsec);
-  }
+    public:
+      int32_t sec, nsec;
 
-  double toSec() const
-  {
-    return (double)sec + 1e-9 * (double)nsec;
+      Duration() : sec(0), nsec(0) {}
+      Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
+      {
+        normalizeSecNSecSigned(sec, nsec);
+      }
+
+      double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
+      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
+      void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
+
+      Duration& operator+=(const Duration &rhs);
+      Duration& operator-=(const Duration &rhs);
+      Duration& operator*=(double scale);
   };
-  void fromSec(double t)
-  {
-    sec = (uint32_t) floor(t);
-    nsec = (uint32_t) round((t - sec) * 1e9);
-  };
-
-  Duration& operator+=(const Duration &rhs);
-  Duration& operator-=(const Duration &rhs);
-  Duration& operator*=(double scale);
-};
 
 }