Working towards recieving twists
Fork of ros_lib_kinetic by
Diff: ros/duration.h
- Revision:
- 0:9e9b7db60fd5
- Child:
- 1:a849bf78d77f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros/duration.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,67 @@ +/* + * 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_DURATION_H_ +#define _ROS_DURATION_H_ + +#include <math.h> +#include <stdint.h> + +namespace ros { + + void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec); + + class Duration + { + public: + int32_t sec, nsec; + + Duration() : sec(0), nsec(0) {} + Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec) + { + normalizeSecNSecSigned(sec, nsec); + } + + double toSec() const { return (double)sec + 1e-9*(double)nsec; }; + void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); }; + + Duration& operator+=(const Duration &rhs); + Duration& operator-=(const Duration &rhs); + Duration& operator*=(double scale); + }; + +} + +#endif +