trajectory_time.cc

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/*
 * This file is part of the rc_dynamics_api package.
 *
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products 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 HOLDER 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#include "trajectory_time.h"

#include <stdexcept>

namespace rc
{
TrajectoryTime TrajectoryTime::Absolute(unsigned long sec, unsigned long nsec)
{
  return TrajectoryTime(sec, nsec, false);
}

TrajectoryTime TrajectoryTime::RelativeToStart(unsigned long sec, unsigned long nsec)
{
  return TrajectoryTime(sec, nsec, true);
}

TrajectoryTime TrajectoryTime::RelativeToEnd(unsigned long sec, unsigned long nsec)
{
  return TrajectoryTime(-sec, -nsec, true);
}

TrajectoryTime::TrajectoryTime(long sec, long nsec, bool relative) : relative_(relative), sec_(sec), nsec_(nsec)
{
  if (!relative && (sec < 0 || nsec < 0))
  {
    throw std::invalid_argument("Negative values for sec or nsec are only allowed for relative time specification!");
  }
}
}