Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

time.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 "ros/time.h"

namespace ros
{
  void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
    uint32_t nsec_part= nsec % 1000000000UL;
    uint32_t sec_part = nsec / 1000000000UL;
    sec += sec_part;
    nsec = nsec_part;
  }

  Time& Time::fromNSec(int32_t t)
  {
    sec = t / 1000000000;
    nsec = t % 1000000000;
    normalizeSecNSec(sec, nsec);
    return *this;
  }

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

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