duration.h

00001 /*
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00034 
00035 #ifndef _ROS_DURATION_H_
00036 #define _ROS_DURATION_H_
00037 
00038 #include <math.h>
00039 #include <stdint.h>
00040 
00041 namespace ros
00042 {
00043 
00044 void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
00045 
00046 class Duration
00047 {
00048 public:
00049   int32_t sec, nsec;
00050 
00051   Duration() : sec(0), nsec(0) {}
00052   Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
00053   {
00054     normalizeSecNSecSigned(sec, nsec);
00055   }
00056 
00057   double round(double number)
00058   {
00059     return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5);
00060   };
00061   double toSec() const
00062   {
00063     return (double)sec + 1e-9 * (double)nsec;
00064   };
00065   void fromSec(double t)
00066   {
00067     sec = (uint32_t) floor(t);
00068     nsec = (uint32_t) round((t - sec) * 1e9);
00069   };
00070 
00071   Duration& operator+=(const Duration &rhs);
00072   Duration& operator-=(const Duration &rhs);
00073   Duration& operator*=(double scale);
00074 };
00075 
00076 }
00077 
00078 #endif
00079