Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

duration.cpp

Committer:
jvfausto
Date:
21 months ago
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5

File content as of revision 2:ab8333331642:

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#include <math.h>
#include "ros/duration.h"

namespace ros
{
  void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
  {
    int32_t nsec_part = nsec;
    int32_t sec_part = sec;

    while (nsec_part > 1000000000L)
    {
      nsec_part -= 1000000000L;
      ++sec_part;
    }
    while (nsec_part < 0)
    {
      nsec_part += 1000000000L;
      --sec_part;
    }
    sec = sec_part;
    nsec = nsec_part;
  }

  Duration& Duration::operator+=(const Duration &rhs)
  {
    sec += rhs.sec;
    nsec += rhs.nsec;
    normalizeSecNSecSigned(sec, nsec);
    return *this;
  }

  Duration& Duration::operator-=(const Duration &rhs){
    sec += -rhs.sec;
    nsec += -rhs.nsec;
    normalizeSecNSecSigned(sec, nsec);
    return *this;
  }

  Duration& Duration::operator*=(double scale){
    sec *= scale;
    nsec *= scale;
    normalizeSecNSecSigned(sec, nsec);
    return *this;
  }

}