time.h

00001 /*
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00034 
00035 #ifndef ROS_TIME_H_
00036 #define ROS_TIME_H_
00037 
00038 #include "ros/duration.h"
00039 #include <math.h>
00040 #include <stdint.h>
00041 
00042 namespace ros
00043 {
00044 void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
00045 
00046 class Time
00047 {
00048 public:
00049   uint32_t sec, nsec;
00050 
00051   Time() : sec(0), nsec(0) {}
00052   Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
00053   {
00054     normalizeSecNSec(sec, nsec);
00055   }
00056 
00057   double toSec() const
00058   {
00059     return (double)sec + 1e-9 * (double)nsec;
00060   };
00061   void fromSec(double t)
00062   {
00063     sec = (uint32_t) floor(t);
00064     nsec = (uint32_t) round((t - sec) * 1e9);
00065   };
00066 
00067   uint32_t toNsec()
00068   {
00069     return (uint32_t)sec * 1000000000ull + (uint32_t)nsec;
00070   };
00071   Time& fromNSec(int32_t t);
00072 
00073   Time& operator +=(const Duration &rhs);
00074   Time& operator -=(const Duration &rhs);
00075 
00076   static Time now();
00077   static void setNow(Time & new_now);
00078   double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); };
00079 };
00080 
00081 }
00082 
00083 #endif