Diff: ros_lib_kinetic/duration.cpp

Revision:

0:4ff8aeb3e4d1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib_kinetic/duration.cpp	Fri Apr 02 05:24:49 2021 +0000
@@ -0,0 +1,81 @@
+/*
+ * 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;
+  }
+
+}