Diff: ros/time.h

Revision:

0:9e9b7db60fd5

Child:

1:a849bf78d77f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/time.h	Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,72 @@
+/*
+ * 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>
+#include <stdint.h>
+
+namespace ros
+{
+  void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
+
+  class Time
+  {
+    public:
+      uint32_t sec, nsec;
+
+      Time() : sec(0), nsec(0) {}
+      Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
+      {
+        normalizeSecNSec(sec, nsec);
+      }
+
+      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
+      void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
+
+      uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; };
+      Time& fromNSec(int32_t t);
+
+      Time& operator +=(const Duration &rhs);
+      Time& operator -=(const Duration &rhs);
+
+      static Time now();
+      static void setNow( Time & new_now);
+  };
+
+}
+
+#endif