change rate38400->115200
Fork of ros_lib_kinetic by
duration.cpp
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
/* * Software License Agreement (BSD License) * * Copyright (c) 2011, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote prducts derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include <math.h> #include "ros/duration.h" namespace ros { void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec) { int32_t nsec_part = nsec; int32_t sec_part = sec; while (nsec_part > 1000000000L) { nsec_part -= 1000000000L; ++sec_part; } while (nsec_part < 0) { nsec_part += 1000000000L; --sec_part; } sec = sec_part; nsec = nsec_part; } Duration& Duration::operator+=(const Duration &rhs) { sec += rhs.sec; nsec += rhs.nsec; normalizeSecNSecSigned(sec, nsec); return *this; } Duration& Duration::operator-=(const Duration &rhs){ sec += -rhs.sec; nsec += -rhs.nsec; normalizeSecNSecSigned(sec, nsec); return *this; } Duration& Duration::operator*=(double scale){ sec *= scale; nsec *= scale; normalizeSecNSecSigned(sec, nsec); return *this; } }