Diff: ros/time.h

Revision:

5:c30c76e8c3f1

Parent:

1:ff0ec969dad1

--- a/ros/time.h	Wed Feb 29 23:00:21 2012 +0000
+++ b/ros/time.h	Thu May 08 06:34:18 2014 +0000
@@ -1,82 +1,71 @@
-/*
- * 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.
- */
-
-#ifndef ROS_TIME_H_
-#define ROS_TIME_H_
-
-#include <ros/duration.h>
-#include <math.h>
-
-namespace ros {
-void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
-
-class Time {
-public:
-    unsigned long sec, nsec;
-
-    Time() : sec(0), nsec(0) {}
-    Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) {
-        normalizeSecNSec(sec, nsec);
-    }
-
-    double toSec() const {
-        return (double)sec + 1e-9*(double)nsec;
-    };
-    void fromSec(double t) {
-        sec = (unsigned long) floor(t);
-        nsec = (unsigned long) round((t-sec) * 1e9);
-    };
-
-    unsigned long toNsec() {
-        return (unsigned long)sec*1000000000ull + (unsigned long)nsec;
-    };
-    Time& fromNSec(long t);
-
-    Time& operator +=(const Duration &rhs);
-    Time& operator -=(const Duration &rhs);
-
-    static Time now();
-    static void setNow( Time & new_now);
-
-    int round(double x) {
-        int a;
-        a = floor(x + 0.5);
-        return a;
-    }
-
-};
-
-}
-
-#endif
\ No newline at end of file
+/* 
+ * 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.
+ */
+
+#ifndef ROS_TIME_H_
+#define ROS_TIME_H_
+
+#include <ros/duration.h>
+#include <math.h>
+
+namespace ros
+{
+  void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
+
+  class Time
+  {
+    public:
+      unsigned long sec, nsec;
+
+      Time() : sec(0), nsec(0) {}
+      Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec)
+      {
+        normalizeSecNSec(sec, nsec);  
+      } 
+        
+      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
+      void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) rint((t-sec) * 1e9); };
+
+      unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; };
+      Time& fromNSec(long t);
+
+      Time& operator +=(const Duration &rhs);
+      Time& operator -=(const Duration &rhs);
+
+      static Time now();
+      static void setNow( Time & new_now);
+  };
+
+}
+
+#endif