Working towards recieving twists
Fork of ros_lib_kinetic by
ros/time.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 1:a849bf78d77f
- Parent:
- 0:9e9b7db60fd5
File content as of revision 1:a849bf78d77f:
/* * 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> #include <stdint.h> namespace ros { void normalizeSecNSec(uint32_t &sec, uint32_t &nsec); class Time { public: uint32_t sec, nsec; Time() : sec(0), nsec(0) {} Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec) { normalizeSecNSec(sec, nsec); } double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); } 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); }; uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; }; Time& fromNSec(int32_t t); Time& operator +=(const Duration &rhs); Time& operator -=(const Duration &rhs); static Time now(); static void setNow( Time & new_now); }; } #endif