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Diff: ros/time.h
- Revision:
- 5:c30c76e8c3f1
- Parent:
- 1:ff0ec969dad1
diff -r 684f39d0c346 -r c30c76e8c3f1 ros/time.h --- 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