![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
ros/time.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
File content as of revision 1:098e75fd5ad2:
/* * 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> namespace ros { void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); class Time { public: unsigned long sec, nsec; Time() : sec(0), nsec(0) {} Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) { normalizeSecNSec(sec, nsec); } double toSec() const { return (double)sec + 1e-9*(double)nsec; }; void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); }; unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; }; Time& fromNSec(long t); Time& operator +=(const Duration &rhs); Time& operator -=(const Duration &rhs); static Time now(); static void setNow( Time & new_now); int round(double x) { int a; a = floor(x + 0.5); return a; } }; } #endif