Weber Yang / ros_lib_kinetic_weber

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Dependencies:   BufferedSerial ledControl2

Fork of ros_lib_kinetic by Gary Servin

ros/duration.h@2:40f11e1dc026, 2018-10-23 (annotated)

Committer:
WeberYang
Date:
Tue Oct 23 03:00:47 2018 +0000
Revision:
2:40f11e1dc026
Parent:
1:a849bf78d77f 
Using two TIM to capture encoder signals.

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 #ifndef _ROS_DURATION_H_
garyservin 0:9e9b7db60fd5 36 #define _ROS_DURATION_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include <math.h>
garyservin 0:9e9b7db60fd5 39 #include <stdint.h>
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 namespace ros {
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 class Duration
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 public:
garyservin 0:9e9b7db60fd5 48 int32_t sec, nsec;
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 Duration() : sec(0), nsec(0) {}
garyservin 0:9e9b7db60fd5 51 Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 1:a849bf78d77f 56 double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
garyservin 0:9e9b7db60fd5 57 double toSec() const { return (double)sec + 1e-9*(double)nsec; };
garyservin 0:9e9b7db60fd5 58 void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 Duration& operator+=(const Duration &rhs);
garyservin 0:9e9b7db60fd5 61 Duration& operator-=(const Duration &rhs);
garyservin 0:9e9b7db60fd5 62 Duration& operator*=(double scale);
garyservin 0:9e9b7db60fd5 63 };
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 #endif
garyservin 0:9e9b7db60fd5 68