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 
00041 namespace ros {
00042 void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
00043 
00044 class Time {
00045 public:
00046     unsigned long sec, nsec;
00047 
00048     Time() : sec(0), nsec(0) {}
00049     Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) {
00050         normalizeSecNSec(sec, nsec);
00051     }
00052 
00053     double toSec() const {
00054         return (double)sec + 1e-9*(double)nsec;
00055     };
00056     void fromSec(double t) {
00057         sec = (unsigned long) floor(t);
00058         nsec = (unsigned long) round((t-sec) * 1e9);
00059     };
00060 
00061     unsigned long toNsec() {
00062         return (unsigned long)sec*1000000000ull + (unsigned long)nsec;
00063     };
00064     Time& fromNSec(long t);
00065 
00066     Time& operator +=(const Duration &rhs);
00067     Time& operator -=(const Duration &rhs);
00068 
00069     static Time now();
00070     static void setNow( Time & new_now);
00071 
00072     int round(double x) {
00073         int a;
00074         a = floor(x + 0.5);
00075         return a;
00076     }
00077 
00078 };
00079 
00080 }
00081 
00082 #endif