.. _program_listing_file_include_rclcpp_duration.hpp:

Program Listing for File duration.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_duration.hpp>` (``include/rclcpp/duration.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2017 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__DURATION_HPP_
   #define RCLCPP__DURATION_HPP_
   
   #include <chrono>
   
   #include "builtin_interfaces/msg/duration.hpp"
   #include "rcl/time.h"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   class RCLCPP_PUBLIC Duration
   {
   public:
   
     Duration(int32_t seconds, uint32_t nanoseconds);
   
     explicit Duration(std::chrono::nanoseconds nanoseconds);
   
     // This constructor matches any std::chrono value other than nanoseconds
     // intentionally not using explicit to create a conversion constructor
     template<class Rep, class Period>
     // cppcheck-suppress noExplicitConstructor
     Duration(const std::chrono::duration<Rep, Period> & duration)  // NOLINT(runtime/explicit)
     : Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(duration))
     {}
   
     // cppcheck-suppress noExplicitConstructor
     Duration(const builtin_interfaces::msg::Duration & duration_msg);  // NOLINT(runtime/explicit)
   
   
     explicit Duration(const rcl_duration_t & duration);
   
     Duration(const Duration & rhs);
   
     virtual ~Duration() = default;
   
     operator builtin_interfaces::msg::Duration() const;
   
     // cppcheck-suppress operatorEq // this is a false positive from cppcheck
     Duration &
     operator=(const Duration & rhs);
   
     Duration &
     operator=(const builtin_interfaces::msg::Duration & duration_msg);
   
     bool
     operator==(const rclcpp::Duration & rhs) const;
   
     bool
     operator!=(const rclcpp::Duration & rhs) const;
   
     bool
     operator<(const rclcpp::Duration & rhs) const;
   
     bool
     operator<=(const rclcpp::Duration & rhs) const;
   
     bool
     operator>=(const rclcpp::Duration & rhs) const;
   
     bool
     operator>(const rclcpp::Duration & rhs) const;
   
     Duration
     operator+(const rclcpp::Duration & rhs) const;
   
     Duration
     operator-(const rclcpp::Duration & rhs) const;
   
   
     static
     Duration
     max();
   
     Duration
     operator*(double scale) const;
   
   
     rcl_duration_value_t
     nanoseconds() const;
   
   
     double
     seconds() const;
   
     static Duration
     from_seconds(double seconds);
   
     static Duration
     from_nanoseconds(rcl_duration_value_t nanoseconds);
   
     static Duration
     from_rmw_time(rmw_time_t duration);
   
     template<class DurationT>
     DurationT
     to_chrono() const
     {
       return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
     }
   
     rmw_time_t
     to_rmw_time() const;
   
   private:
     rcl_duration_t rcl_duration_;
   
     Duration() = default;
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__DURATION_HPP_