Andrew Bylard / ros_lib_kinetic

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Dependencies:   BufferedSerial

Dependents:   FreeFlyerROS_clarakhl FreeFlyerROS FreeFlyerROS

Fork of ros_lib_kinetic by Gary Servin

duration.cpp@2:6d41474744b7, 2018-06-22 (annotated)

Committer:
Knillinux
Date:
Fri Jun 22 02:09:43 2018 +0000
Revision:
2:6d41474744b7
Parent:
0:9e9b7db60fd5 
Added publisher/subscribers in class functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #include <math.h>
garyservin 0:9e9b7db60fd5 36 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 namespace ros
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int32_t nsec_part = nsec;
garyservin 0:9e9b7db60fd5 43 int32_t sec_part = sec;
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 while (nsec_part > 1000000000L)
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 nsec_part -= 1000000000L;
garyservin 0:9e9b7db60fd5 48 ++sec_part;
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50 while (nsec_part < 0)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 nsec_part += 1000000000L;
garyservin 0:9e9b7db60fd5 53 --sec_part;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 sec = sec_part;
garyservin 0:9e9b7db60fd5 56 nsec = nsec_part;
garyservin 0:9e9b7db60fd5 57 }
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 Duration& Duration::operator+=(const Duration &rhs)
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 sec += rhs.sec;
garyservin 0:9e9b7db60fd5 62 nsec += rhs.nsec;
garyservin 0:9e9b7db60fd5 63 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 64 return *this;
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 Duration& Duration::operator-=(const Duration &rhs){
garyservin 0:9e9b7db60fd5 68 sec += -rhs.sec;
garyservin 0:9e9b7db60fd5 69 nsec += -rhs.nsec;
garyservin 0:9e9b7db60fd5 70 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 71 return *this;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 Duration& Duration::operator*=(double scale){
garyservin 0:9e9b7db60fd5 75 sec *= scale;
garyservin 0:9e9b7db60fd5 76 nsec *= scale;
garyservin 0:9e9b7db60fd5 77 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 78 return *this;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }