duration.h

00001 /*
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00034 
00035 #ifndef _ROS_DURATION_H_
00036 #define _ROS_DURATION_H_
00037 
00038 #include <math.h>
00039 #include <stdint.h>
00040 
00041 namespace ros {
00042 
00043   void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
00044 
00045   class Duration
00046   {
00047     public:
00048       int32_t sec, nsec;
00049 
00050       Duration() : sec(0), nsec(0) {}
00051       Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
00052       {
00053         normalizeSecNSecSigned(sec, nsec);
00054       }
00055 
00056       double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
00057       double toSec() const { return (double)sec + 1e-9*(double)nsec; };
00058       void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
00059 
00060       Duration& operator+=(const Duration &rhs);
00061       Duration& operator-=(const Duration &rhs);
00062       Duration& operator*=(double scale);
00063   };
00064 
00065 }
00066 
00067 #endif
00068