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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 #ifndef ROS_TIME_H_ 00036 #define ROS_TIME_H_ 00037 00038 #include <ros/duration.h> 00039 #include <math.h> 00040 00041 namespace ros 00042 { 00043 void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); 00044 00045 class Time 00046 { 00047 public: 00048 unsigned long sec, nsec; 00049 00050 Time() : sec(0), nsec(0) {} 00051 Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) 00052 { 00053 normalizeSecNSec(sec, nsec); 00054 } 00055 00056 double toSec() const { return (double)sec + 1e-9*(double)nsec; }; 00057 void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); }; 00058 00059 unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; }; 00060 Time& fromNSec(long t); 00061 00062 Time& operator +=(const Duration &rhs); 00063 Time& operator -=(const Duration &rhs); 00064 00065 static Time now(); 00066 static void setNow( Time & new_now); 00067 }; 00068 00069 } 00070 00071 #endif