hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

duration.cpp@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * Software License Agreement (BSD License)
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Copyright (c) 2011, Willow Garage, Inc.
Gary Servin 0:04ac6be8229a 5 * All rights reserved.
Gary Servin 0:04ac6be8229a 6 *
Gary Servin 0:04ac6be8229a 7 * Redistribution and use in source and binary forms, with or without
Gary Servin 0:04ac6be8229a 8 * modification, are permitted provided that the following conditions
Gary Servin 0:04ac6be8229a 9 * are met:
Gary Servin 0:04ac6be8229a 10 *
Gary Servin 0:04ac6be8229a 11 * * Redistributions of source code must retain the above copyright
Gary Servin 0:04ac6be8229a 12 * notice, this list of conditions and the following disclaimer.
Gary Servin 0:04ac6be8229a 13 * * Redistributions in binary form must reproduce the above
Gary Servin 0:04ac6be8229a 14 * copyright notice, this list of conditions and the following
Gary Servin 0:04ac6be8229a 15 * disclaimer in the documentation and/or other materials provided
Gary Servin 0:04ac6be8229a 16 * with the distribution.
Gary Servin 0:04ac6be8229a 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Gary Servin 0:04ac6be8229a 18 * contributors may be used to endorse or promote prducts derived
Gary Servin 0:04ac6be8229a 19 * from this software without specific prior written permission.
Gary Servin 0:04ac6be8229a 20 *
Gary Servin 0:04ac6be8229a 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Gary Servin 0:04ac6be8229a 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Gary Servin 0:04ac6be8229a 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Gary Servin 0:04ac6be8229a 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Gary Servin 0:04ac6be8229a 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Gary Servin 0:04ac6be8229a 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Gary Servin 0:04ac6be8229a 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Gary Servin 0:04ac6be8229a 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Gary Servin 0:04ac6be8229a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Gary Servin 0:04ac6be8229a 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Gary Servin 0:04ac6be8229a 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Gary Servin 0:04ac6be8229a 32 * POSSIBILITY OF SUCH DAMAGE.
Gary Servin 0:04ac6be8229a 33 */
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 #include <math.h>
Gary Servin 0:04ac6be8229a 36 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 namespace ros
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 int32_t nsec_part = nsec;
Gary Servin 0:04ac6be8229a 43 int32_t sec_part = sec;
Gary Servin 0:04ac6be8229a 44
Gary Servin 0:04ac6be8229a 45 while (nsec_part > 1000000000L)
Gary Servin 0:04ac6be8229a 46 {
Gary Servin 0:04ac6be8229a 47 nsec_part -= 1000000000L;
Gary Servin 0:04ac6be8229a 48 ++sec_part;
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50 while (nsec_part < 0)
Gary Servin 0:04ac6be8229a 51 {
Gary Servin 0:04ac6be8229a 52 nsec_part += 1000000000L;
Gary Servin 0:04ac6be8229a 53 --sec_part;
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55 sec = sec_part;
Gary Servin 0:04ac6be8229a 56 nsec = nsec_part;
Gary Servin 0:04ac6be8229a 57 }
Gary Servin 0:04ac6be8229a 58
Gary Servin 0:04ac6be8229a 59 Duration& Duration::operator+=(const Duration &rhs)
Gary Servin 0:04ac6be8229a 60 {
Gary Servin 0:04ac6be8229a 61 sec += rhs.sec;
Gary Servin 0:04ac6be8229a 62 nsec += rhs.nsec;
Gary Servin 0:04ac6be8229a 63 normalizeSecNSecSigned(sec, nsec);
Gary Servin 0:04ac6be8229a 64 return *this;
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 Duration& Duration::operator-=(const Duration &rhs)
Gary Servin 0:04ac6be8229a 68 {
Gary Servin 0:04ac6be8229a 69 sec += -rhs.sec;
Gary Servin 0:04ac6be8229a 70 nsec += -rhs.nsec;
Gary Servin 0:04ac6be8229a 71 normalizeSecNSecSigned(sec, nsec);
Gary Servin 0:04ac6be8229a 72 return *this;
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 Duration& Duration::operator*=(double scale)
Gary Servin 0:04ac6be8229a 76 {
Gary Servin 0:04ac6be8229a 77 sec *= scale;
Gary Servin 0:04ac6be8229a 78 nsec *= scale;
Gary Servin 0:04ac6be8229a 79 normalizeSecNSecSigned(sec, nsec);
Gary Servin 0:04ac6be8229a 80 return *this;
Gary Servin 0:04ac6be8229a 81 }
Gary Servin 0:04ac6be8229a 82
Gary Servin 0:04ac6be8229a 83 }