duration.h

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#ifndef _ROS_DURATION_H_
#define _ROS_DURATION_H_

#include <math.h>
#include <stdint.h>

namespace ros {

  void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);

  class Duration
  {
    public:
      int32_t sec, nsec;

      Duration() : sec(0), nsec(0) {}
      Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
      {
        normalizeSecNSecSigned(sec, nsec);
      }

      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
      void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };

      Duration& operator+=(const Duration &rhs);
      Duration& operator-=(const Duration &rhs);
      Duration& operator*=(double scale);
  };

}

#endif