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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include <math.h> 00036 #include "ros/duration.h" 00037 00038 namespace ros 00039 { 00040 void normalizeSecNSecSigned(long &sec, long &nsec) 00041 { 00042 long nsec_part = nsec; 00043 long sec_part = sec; 00044 00045 while (nsec_part > 1000000000L) 00046 { 00047 nsec_part -= 1000000000L; 00048 ++sec_part; 00049 } 00050 while (nsec_part < 0) 00051 { 00052 nsec_part += 1000000000L; 00053 --sec_part; 00054 } 00055 sec = sec_part; 00056 nsec = nsec_part; 00057 } 00058 00059 Duration& Duration::operator+=(const Duration &rhs) 00060 { 00061 sec += rhs.sec; 00062 nsec += rhs.nsec; 00063 normalizeSecNSecSigned(sec, nsec); 00064 return *this; 00065 } 00066 00067 Duration& Duration::operator-=(const Duration &rhs){ 00068 sec += -rhs.sec; 00069 nsec += -rhs.nsec; 00070 normalizeSecNSecSigned(sec, nsec); 00071 return *this; 00072 } 00073 00074 Duration& Duration::operator*=(double scale){ 00075 sec *= scale; 00076 nsec *= scale; 00077 normalizeSecNSecSigned(sec, nsec); 00078 return *this; 00079 } 00080 00081 }