time.h

00001 /*
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00034 
00035 #ifndef ROS_TIME_H_
00036 #define ROS_TIME_H_
00037 
00038 #include <ros/duration.h>
00039 #include <math.h>
00040 
00041 namespace ros
00042 {
00043   void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
00044 
00045   class Time
00046   {
00047     public:
00048       unsigned long sec, nsec;
00049 
00050       Time() : sec(0), nsec(0) {}
00051       Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec)
00052       {
00053         normalizeSecNSec(sec, nsec);
00054       }
00055 
00056       double toSec() const { return (double)sec + 1e-9*(double)nsec; };
00057       void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); };
00058 
00059       unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; };
00060       Time& fromNSec(long t);
00061 
00062       Time& operator +=(const Duration &rhs);
00063       Time& operator -=(const Duration &rhs);
00064 
00065       static Time now();
00066       static void setNow( Time & new_now);
00067 
00068     int round(double x) {
00069         int a;
00070         a = floor(x + 0.5);
00071         return a;
00072     }
00073 
00074 };
00075 
00076 }
00077 
00078 #endif