duration.h

00001 /* 
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00034 
00035 #ifndef _ROS_DURATION_H_
00036 #define _ROS_DURATION_H_
00037 
00038 #include <math.h>
00039 
00040 namespace ros {
00041 
00042   void normalizeSecNSecSigned(long& sec, long& nsec);
00043 
00044   class Duration
00045   {
00046     public:
00047       long sec, nsec; 
00048       
00049       Duration() : sec(0), nsec(0) {}
00050       Duration(long _sec, long _nsec) : sec(_sec), nsec(_nsec)
00051       {
00052         normalizeSecNSecSigned(sec, nsec);
00053       }
00054       
00055       //double toSec() const { return (double)sec + 1e-9*(double)nsec; };
00056       //void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); };void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); };
00057 
00058       Duration& operator+=(const Duration &rhs);
00059       Duration& operator-=(const Duration &rhs);
00060       Duration& operator*=(double scale);
00061   };
00062 
00063 }
00064 
00065 #endif