00001 // kate: replace-tabs off; indent-width 4; indent-mode normal 00002 // vim: ts=4:sw=4:noexpandtab 00003 /* 00004 00005 Copyright (c) 2010--2012, 00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland 00007 You can contact the authors at <f dot pomerleau at gmail dot com> and 00008 <stephane at magnenat dot net> 00009 00010 All rights reserved. 00011 00012 Redistribution and use in source and binary forms, with or without 00013 modification, are permitted provided that the following conditions are met: 00014 * Redistributions of source code must retain the above copyright 00015 notice, this list of conditions and the following disclaimer. 00016 * Redistributions in binary form must reproduce the above copyright 00017 notice, this list of conditions and the following disclaimer in the 00018 documentation and/or other materials provided with the distribution. 00019 * Neither the name of the <organization> nor the 00020 names of its contributors may be used to endorse or promote products 00021 derived from this software without specific prior written permission. 00022 00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY 00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 00034 */ 00035 00036 #ifndef __POINTMATCHER_TIMER_H 00037 #define __POINTMATCHER_TIMER_H 00038 00039 #include <time.h> 00040 #include <unistd.h> 00041 00042 #ifdef _POSIX_TIMERS 00043 namespace PointMatcherSupport 00044 { 00055 struct timer 00056 { 00058 typedef unsigned long long Time; 00059 00061 timer(); 00063 void restart(); 00065 double elapsed() const; 00066 00067 private: 00069 Time curTime() const; 00070 00071 Time _start_time; 00072 }; 00073 } // namespace PointMatcherSupport 00074 #else // _POSIX_TIMERS 00075 #include <boost/timer.hpp> 00076 namespace PointMatcherSupport 00077 { 00078 typedef boost::timer timer; 00079 } 00080 #endif // _POSIX_TIMERS 00081 00082 #endif // __POINTMATCHER_TIMER_H