rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
ros/duration.h@0:30537dec6e0b, 2015-02-15 (annotated)
- Committer:
- akashvibhute
- Date:
- Sun Feb 15 10:53:43 2015 +0000
- Revision:
- 0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:30537dec6e0b | 1 | /* |
akashvibhute | 0:30537dec6e0b | 2 | * Software License Agreement (BSD License) |
akashvibhute | 0:30537dec6e0b | 3 | * |
akashvibhute | 0:30537dec6e0b | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
akashvibhute | 0:30537dec6e0b | 5 | * All rights reserved. |
akashvibhute | 0:30537dec6e0b | 6 | * |
akashvibhute | 0:30537dec6e0b | 7 | * Redistribution and use in source and binary forms, with or without |
akashvibhute | 0:30537dec6e0b | 8 | * modification, are permitted provided that the following conditions |
akashvibhute | 0:30537dec6e0b | 9 | * are met: |
akashvibhute | 0:30537dec6e0b | 10 | * |
akashvibhute | 0:30537dec6e0b | 11 | * * Redistributions of source code must retain the above copyright |
akashvibhute | 0:30537dec6e0b | 12 | * notice, this list of conditions and the following disclaimer. |
akashvibhute | 0:30537dec6e0b | 13 | * * Redistributions in binary form must reproduce the above |
akashvibhute | 0:30537dec6e0b | 14 | * copyright notice, this list of conditions and the following |
akashvibhute | 0:30537dec6e0b | 15 | * disclaimer in the documentation and/or other materials provided |
akashvibhute | 0:30537dec6e0b | 16 | * with the distribution. |
akashvibhute | 0:30537dec6e0b | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
akashvibhute | 0:30537dec6e0b | 18 | * contributors may be used to endorse or promote prducts derived |
akashvibhute | 0:30537dec6e0b | 19 | * from this software without specific prior written permission. |
akashvibhute | 0:30537dec6e0b | 20 | * |
akashvibhute | 0:30537dec6e0b | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
akashvibhute | 0:30537dec6e0b | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
akashvibhute | 0:30537dec6e0b | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
akashvibhute | 0:30537dec6e0b | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
akashvibhute | 0:30537dec6e0b | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
akashvibhute | 0:30537dec6e0b | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
akashvibhute | 0:30537dec6e0b | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
akashvibhute | 0:30537dec6e0b | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
akashvibhute | 0:30537dec6e0b | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
akashvibhute | 0:30537dec6e0b | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
akashvibhute | 0:30537dec6e0b | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
akashvibhute | 0:30537dec6e0b | 32 | * POSSIBILITY OF SUCH DAMAGE. |
akashvibhute | 0:30537dec6e0b | 33 | */ |
akashvibhute | 0:30537dec6e0b | 34 | |
akashvibhute | 0:30537dec6e0b | 35 | #ifndef _ROS_DURATION_H_ |
akashvibhute | 0:30537dec6e0b | 36 | #define _ROS_DURATION_H_ |
akashvibhute | 0:30537dec6e0b | 37 | |
akashvibhute | 0:30537dec6e0b | 38 | #include <math.h> |
akashvibhute | 0:30537dec6e0b | 39 | |
akashvibhute | 0:30537dec6e0b | 40 | namespace ros { |
akashvibhute | 0:30537dec6e0b | 41 | |
akashvibhute | 0:30537dec6e0b | 42 | void normalizeSecNSecSigned(long& sec, long& nsec); |
akashvibhute | 0:30537dec6e0b | 43 | |
akashvibhute | 0:30537dec6e0b | 44 | class Duration |
akashvibhute | 0:30537dec6e0b | 45 | { |
akashvibhute | 0:30537dec6e0b | 46 | public: |
akashvibhute | 0:30537dec6e0b | 47 | long sec, nsec; |
akashvibhute | 0:30537dec6e0b | 48 | |
akashvibhute | 0:30537dec6e0b | 49 | Duration() : sec(0), nsec(0) {} |
akashvibhute | 0:30537dec6e0b | 50 | Duration(long _sec, long _nsec) : sec(_sec), nsec(_nsec) |
akashvibhute | 0:30537dec6e0b | 51 | { |
akashvibhute | 0:30537dec6e0b | 52 | normalizeSecNSecSigned(sec, nsec); |
akashvibhute | 0:30537dec6e0b | 53 | } |
akashvibhute | 0:30537dec6e0b | 54 | |
akashvibhute | 0:30537dec6e0b | 55 | double toSec() const { return (double)sec + 1e-9*(double)nsec; }; |
akashvibhute | 0:30537dec6e0b | 56 | void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) floor((t-sec) * 1e9); }; |
akashvibhute | 0:30537dec6e0b | 57 | |
akashvibhute | 0:30537dec6e0b | 58 | Duration& operator+=(const Duration &rhs); |
akashvibhute | 0:30537dec6e0b | 59 | Duration& operator-=(const Duration &rhs); |
akashvibhute | 0:30537dec6e0b | 60 | Duration& operator*=(double scale); |
akashvibhute | 0:30537dec6e0b | 61 | }; |
akashvibhute | 0:30537dec6e0b | 62 | |
akashvibhute | 0:30537dec6e0b | 63 | } |
akashvibhute | 0:30537dec6e0b | 64 | |
akashvibhute | 0:30537dec6e0b | 65 | #endif |
akashvibhute | 0:30537dec6e0b | 66 | |
akashvibhute | 0:30537dec6e0b | 67 |