time_pa.cpp

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/******************************************************************************
*                                                                             *
* time_pa.cpp                                                                 *
* ===========                                                                 *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
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*******************************************************************************
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// local headers
#include "octomap_pa/time_pa.h"

// standard headers
#include <cmath>


//**************************[cTimePa]******************************************
cTimePa::cTimePa (const int32_t seconds, const int32_t nanoseconds):
  seconds(seconds),nanoseconds(nanoseconds){

}

cTimePa::cTimePa (const double seconds) {

    this->seconds = floor(seconds);
    this->nanoseconds = round((seconds - floor(seconds)) * 1e9);

    fix();
}

cTimePa::cTimePa (const cTimePa &other): seconds(other.seconds),
  nanoseconds(other.nanoseconds){

}

const cTimePa& cTimePa::operator = (const cTimePa &other) {

    seconds     = other.seconds;
    nanoseconds = other.nanoseconds;
    return *this;
}

bool cTimePa::operator == (const cTimePa &other) const {

    return (seconds == other.seconds) && (nanoseconds == other.nanoseconds);
}

bool cTimePa::operator < (const cTimePa &other) const {

    return (seconds < other.seconds) ||
      ((seconds == other.seconds) && (nanoseconds < other.nanoseconds));
}

bool cTimePa::operator > (const cTimePa &other) const {

    return (seconds > other.seconds) ||
      ((seconds == other.seconds) && (nanoseconds > other.nanoseconds));
}

cTimePa cTimePa::operator - (const cTimePa &other) {

    cTimePa result(seconds, nanoseconds);
    result.seconds    -= other.seconds    ;
    result.nanoseconds-= other.nanoseconds;

    result.fix();
    return result;
}

cTimePa cTimePa::operator + (const cTimePa &other) {

    cTimePa result(seconds, nanoseconds);
    result.seconds    += other.seconds    ;
    result.nanoseconds+= other.nanoseconds;

    result.fix();
    return result;
}

void cTimePa::fix(void) {

    seconds     += nanoseconds / 1000000000;
    nanoseconds %= 1000000000;

    if (nanoseconds < 0) {
        seconds--;
        nanoseconds += 1000000000;
    }
}