Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

ros/time.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
1:a849bf78d77f 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #ifndef ROS_TIME_H_
garyservin 0:9e9b7db60fd5 36 #define ROS_TIME_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 39 #include <math.h>
garyservin 0:9e9b7db60fd5 40 #include <stdint.h>
garyservin 0:9e9b7db60fd5 41
garyservin 0:9e9b7db60fd5 42 namespace ros
garyservin 0:9e9b7db60fd5 43 {
garyservin 0:9e9b7db60fd5 44 void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 class Time
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 public:
garyservin 0:9e9b7db60fd5 49 uint32_t sec, nsec;
garyservin 0:9e9b7db60fd5 50
garyservin 0:9e9b7db60fd5 51 Time() : sec(0), nsec(0) {}
garyservin 0:9e9b7db60fd5 52 Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 normalizeSecNSec(sec, nsec);
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56
garyservin 1:a849bf78d77f 57 double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
garyservin 0:9e9b7db60fd5 58 double toSec() const { return (double)sec + 1e-9*(double)nsec; };
garyservin 0:9e9b7db60fd5 59 void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; };
garyservin 0:9e9b7db60fd5 62 Time& fromNSec(int32_t t);
garyservin 0:9e9b7db60fd5 63
garyservin 0:9e9b7db60fd5 64 Time& operator +=(const Duration &rhs);
garyservin 0:9e9b7db60fd5 65 Time& operator -=(const Duration &rhs);
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 static Time now();
garyservin 0:9e9b7db60fd5 68 static void setNow( Time & new_now);
garyservin 0:9e9b7db60fd5 69 };
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 #endif