Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/duration.cpp@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

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scarter1 0:020db18a476d 1 /*
scarter1 0:020db18a476d 2 * Software License Agreement (BSD License)
scarter1 0:020db18a476d 3 *
scarter1 0:020db18a476d 4 * Copyright (c) 2011, Willow Garage, Inc.
scarter1 0:020db18a476d 5 * All rights reserved.
scarter1 0:020db18a476d 6 *
scarter1 0:020db18a476d 7 * Redistribution and use in source and binary forms, with or without
scarter1 0:020db18a476d 8 * modification, are permitted provided that the following conditions
scarter1 0:020db18a476d 9 * are met:
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * * Redistributions of source code must retain the above copyright
scarter1 0:020db18a476d 12 * notice, this list of conditions and the following disclaimer.
scarter1 0:020db18a476d 13 * * Redistributions in binary form must reproduce the above
scarter1 0:020db18a476d 14 * copyright notice, this list of conditions and the following
scarter1 0:020db18a476d 15 * disclaimer in the documentation and/or other materials provided
scarter1 0:020db18a476d 16 * with the distribution.
scarter1 0:020db18a476d 17 * * Neither the name of Willow Garage, Inc. nor the names of its
scarter1 0:020db18a476d 18 * contributors may be used to endorse or promote prducts derived
scarter1 0:020db18a476d 19 * from this software without specific prior written permission.
scarter1 0:020db18a476d 20 *
scarter1 0:020db18a476d 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
scarter1 0:020db18a476d 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
scarter1 0:020db18a476d 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
scarter1 0:020db18a476d 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
scarter1 0:020db18a476d 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
scarter1 0:020db18a476d 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
scarter1 0:020db18a476d 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
scarter1 0:020db18a476d 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
scarter1 0:020db18a476d 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
scarter1 0:020db18a476d 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
scarter1 0:020db18a476d 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
scarter1 0:020db18a476d 32 * POSSIBILITY OF SUCH DAMAGE.
scarter1 0:020db18a476d 33 */
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 #include <math.h>
scarter1 0:020db18a476d 36 #include "ros/duration.h"
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 namespace ros
scarter1 0:020db18a476d 39 {
scarter1 0:020db18a476d 40 void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 int32_t nsec_part = nsec;
scarter1 0:020db18a476d 43 int32_t sec_part = sec;
scarter1 0:020db18a476d 44
scarter1 0:020db18a476d 45 while (nsec_part > 1000000000L)
scarter1 0:020db18a476d 46 {
scarter1 0:020db18a476d 47 nsec_part -= 1000000000L;
scarter1 0:020db18a476d 48 ++sec_part;
scarter1 0:020db18a476d 49 }
scarter1 0:020db18a476d 50 while (nsec_part < 0)
scarter1 0:020db18a476d 51 {
scarter1 0:020db18a476d 52 nsec_part += 1000000000L;
scarter1 0:020db18a476d 53 --sec_part;
scarter1 0:020db18a476d 54 }
scarter1 0:020db18a476d 55 sec = sec_part;
scarter1 0:020db18a476d 56 nsec = nsec_part;
scarter1 0:020db18a476d 57 }
scarter1 0:020db18a476d 58
scarter1 0:020db18a476d 59 Duration& Duration::operator+=(const Duration &rhs)
scarter1 0:020db18a476d 60 {
scarter1 0:020db18a476d 61 sec += rhs.sec;
scarter1 0:020db18a476d 62 nsec += rhs.nsec;
scarter1 0:020db18a476d 63 normalizeSecNSecSigned(sec, nsec);
scarter1 0:020db18a476d 64 return *this;
scarter1 0:020db18a476d 65 }
scarter1 0:020db18a476d 66
scarter1 0:020db18a476d 67 Duration& Duration::operator-=(const Duration &rhs)
scarter1 0:020db18a476d 68 {
scarter1 0:020db18a476d 69 sec += -rhs.sec;
scarter1 0:020db18a476d 70 nsec += -rhs.nsec;
scarter1 0:020db18a476d 71 normalizeSecNSecSigned(sec, nsec);
scarter1 0:020db18a476d 72 return *this;
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 Duration& Duration::operator*=(double scale)
scarter1 0:020db18a476d 76 {
scarter1 0:020db18a476d 77 sec *= scale;
scarter1 0:020db18a476d 78 nsec *= scale;
scarter1 0:020db18a476d 79 normalizeSecNSecSigned(sec, nsec);
scarter1 0:020db18a476d 80 return *this;
scarter1 0:020db18a476d 81 }
scarter1 0:020db18a476d 82
scarter1 0:020db18a476d 83 }