Diff: ros/time.h

Revision:

0:06fc856e99ca

Child:

1:098e75fd5ad2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/time.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,88 @@
+/*
+ * 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
+ */
+
+#ifndef ros_time_h_included
+#define ros_time_h_included
+
+#include <ros/duration.h>
+#include <math.h>
+
+
+namespace ros {
+void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
+
+
+class Time {
+public:
+    unsigned long sec, nsec;
+
+    Time() : sec(0), nsec(0) {}
+    Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) {
+        normalizeSecNSec(sec, nsec);
+    }
+
+    double toSec() const {
+        return (double)sec + 1e-9*(double)nsec;
+    };
+    void fromSec(double t) {
+        sec = (unsigned long) floor(t);
+        nsec = (unsigned long) round((t-sec) * 1e9);
+    };
+
+    unsigned long toNsec() {
+        return (unsigned long)sec*1000000000ull + (unsigned long)nsec;
+    };
+    Time& fromNSec(long t);
+
+    Time& operator +=(const Duration &rhs);
+    Time& operator -=(const Duration &rhs);
+
+    static Time now();
+    static void setNow( Time & new_now);
+
+    int round(double x) {
+        int a;
+        a = floor(x + 0.5);
+        return a;
+    }
+
+
+};
+}
+
+#endif