.. _program_listing_file_include_tf2_time.h:

Program Listing for File time.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_time.h>` (``include/tf2/time.h``)

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

.. code-block:: cpp

   // Copyright 2015-2016, Open Source Robotics Foundation, Inc. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * 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.
   //
   //    * Neither the name of the Open Source Robotics Foundation 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
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef TF2__TIME_H_
   #define TF2__TIME_H_
   
   #include <chrono>
   #include <cmath>
   #include <string>
   
   #include "tf2/visibility_control.h"
   
   namespace tf2
   {
   using Duration = std::chrono::nanoseconds;
   using TimePoint = std::chrono::time_point<std::chrono::system_clock, Duration>;
   
   using IDuration = std::chrono::duration<int, std::nano>;
   // This is the zero time in ROS
   static const TimePoint TimePointZero = TimePoint(IDuration::zero());
   
   TF2_PUBLIC
   TimePoint get_now();
   
   TF2_PUBLIC
   Duration durationFromSec(double t_sec);
   
   TF2_PUBLIC
   TimePoint timeFromSec(double t_sec);
   
   TF2_PUBLIC
   double durationToSec(const tf2::Duration & input);
   
   TF2_PUBLIC
   double timeToSec(const TimePoint & timepoint);
   
   TF2_PUBLIC
   std::string displayTimePoint(const TimePoint & stamp);
   
   }  // namespace tf2
   
   #endif  // TF2__TIME_H_