Timer.cpp
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00001 #include "constraint_aware_spline_smoother/ParabolicPathSmooth/Timer.h"
00002 #include <stdlib.h>
00003 using namespace ParabolicRamp;
00004 
00005 #ifdef WIN32
00006 #define GETCURRENTTIME(x) x=timeGetTime()
00007 #else
00008 #ifdef  _POSIX_MONOTONIC_CLOCK
00009 #define GETCURRENTTIME(x) clock_gettime(CLOCK_MONOTONIC,&x)
00010 #else
00011 #define GETCURRENTTIME(x) gettimeofday(&x,NULL)
00012 #endif //_POSIX_MONOTONIC_CLOCK
00013 #endif //WIN32
00014 
00015 // Sadly, timersub isn't defined in Solaris. :(
00016 // So we use this instead. (added by Ryan)
00017 
00018 #if defined (__SVR4) && defined (__sun)
00019 #include "timersub.h"
00020 #endif
00021 
00022 Timer::Timer()
00023 {
00024   Reset();
00025 }
00026 
00027 void Timer::Reset()
00028 {
00029   GETCURRENTTIME(start);
00030   current=start;
00031 }
00032 
00033 long long Timer::ElapsedTicks()
00034 {
00035   GETCURRENTTIME(current);
00036   return LastElapsedTicks();
00037 }
00038 
00039 long long Timer::LastElapsedTicks() const
00040 {
00041 #ifdef WIN32
00042   return current-start;
00043 #else
00044 #ifdef  _POSIX_MONOTONIC_CLOCK
00045   long long ticks = (current.tv_sec-start.tv_sec)*1000 + (current.tv_nsec-start.tv_nsec)/1000000;
00046   return ticks;
00047 #else
00048   timeval delta;
00049   timersub(&current,&start,&delta);
00050   long long ticks = delta.tv_sec*1000 + delta.tv_usec/1000;
00051   return ticks;
00052 #endif //_POSIX_MONOTONIC_CLOCK
00053 #endif //WIN32
00054 }
00055     
00056 double Timer::ElapsedTime()
00057 {
00058   GETCURRENTTIME(current);
00059   return LastElapsedTime();
00060 }
00061 
00062 double Timer::LastElapsedTime() const
00063 {
00064 #ifdef WIN32
00065   return double(current-start)/1000.0;
00066 #else
00067 #ifdef  _POSIX_MONOTONIC_CLOCK
00068   double secs=double(current.tv_sec-start.tv_sec);
00069   secs += double(current.tv_nsec-start.tv_nsec)/1000000000.0;
00070   return secs;
00071 #else
00072   timeval delta;
00073   timersub(&current,&start,&delta);
00074   double secs=double(delta.tv_sec);
00075   secs += double(delta.tv_usec)/1000000.0;
00076   return secs;
00077 #endif //_POSIX_MONOTONIC_CLOCK
00078 #endif //WIN32
00079 }
00080 
00081 /*
00082 clock_t Timer::ElapsedTicks()
00083 {
00084   current = clock();
00085   return (current-start);
00086 }
00087 
00088 double Timer::ElapsedTime()
00089 {
00090   current = clock();
00091   return double(current-start)/CLOCKS_PER_SEC;
00092 }
00093 
00094 clock_t Timer::LastElapsedTicks() const
00095 {
00096   return current-start;
00097 }
00098 
00099 double Timer::LastElapsedTime() const
00100 {
00101   return double(current-start)/CLOCKS_PER_SEC;
00102 }
00103 */


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:37:23