time.h

00001 /*
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00034 
00035 #ifndef ROS_TIME_H_
00036 #define ROS_TIME_H_
00037 
00038 #include "ros/duration.h"
00039 #include <math.h>
00040 #include <stdint.h>
00041 
00042 namespace ros
00043 {
00044   void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
00045 
00046   class Time
00047   {
00048     public:
00049       uint32_t sec, nsec;
00050 
00051       Time() : sec(0), nsec(0) {}
00052       Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
00053       {
00054         normalizeSecNSec(sec, nsec);
00055       }
00056 
00057       double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
00058       double toSec() const { return (double)sec + 1e-9*(double)nsec; };
00059       void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
00060 
00061       uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; };
00062       Time& fromNSec(int32_t t);
00063 
00064       Time& operator +=(const Duration &rhs);
00065       Time& operator -=(const Duration &rhs);
00066 
00067       static Time now();
00068       static void setNow( Time & new_now);
00069   };
00070 
00071 }
00072 
00073 #endif