![](/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
Diff: duration.cpp
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
diff -r 000000000000 -r 06fc856e99ca duration.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/duration.cpp Fri Aug 19 09:06:16 2011 +0000 @@ -0,0 +1,86 @@ +/* + * 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. + */ + +/* + * Author: Michael Ferguson + */ + +#include "ros/duration.h" +#include <math.h> + + +namespace ros +{ + void normalizeSecNSecSigned(long &sec, long &nsec) + { + long nsec_part = nsec; + long 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; + } + +}