00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00034 #include <acado/clock/real_clock.hpp> 00035 00036 00037 00038 BEGIN_NAMESPACE_ACADO 00039 00040 00041 00042 RealClock::RealClock( ) : Clock( ) 00043 { 00044 lastTimeInstant = 0.0; 00045 } 00046 00047 00048 RealClock::RealClock( const RealClock &rhs ) : Clock( rhs ) 00049 { 00050 lastTimeInstant = rhs.lastTimeInstant; 00051 } 00052 00053 00054 RealClock::~RealClock( ) 00055 { 00056 } 00057 00058 00059 RealClock& RealClock::operator=( const RealClock &rhs ) 00060 { 00061 if( this != &rhs ) 00062 { 00063 Clock::operator=( rhs ); 00064 00065 lastTimeInstant = rhs.lastTimeInstant; 00066 } 00067 00068 return *this; 00069 } 00070 00071 00072 Clock* RealClock::clone( ) const 00073 { 00074 return new RealClock( *this ); 00075 } 00076 00077 00078 returnValue RealClock::start( ) 00079 { 00080 if ( status != CS_STOPPED ) 00081 return ACADOERROR( RET_CLOCK_NOT_READY ); 00082 00083 lastTimeInstant = acadoGetTime( ); 00084 00085 if ( lastTimeInstant < 0.0 ) 00086 return ACADOERROR( RET_NO_SYSTEM_TIME ); 00087 00088 status = CS_RUNNING; 00089 00090 return SUCCESSFUL_RETURN; 00091 } 00092 00093 00094 returnValue RealClock::step( double _timeShift 00095 ) 00096 { 00097 returnValue returnvalue = stop( ); 00098 if ( returnvalue != SUCCESSFUL_RETURN ) 00099 return returnvalue; 00100 00101 elapsedTime += _timeShift; 00102 00103 return start( ); 00104 } 00105 00106 00107 returnValue RealClock::stop( ) 00108 { 00109 if ( status == CS_NOT_INITIALIZED ) 00110 return ACADOERROR( RET_CLOCK_NOT_READY ); 00111 00112 if ( status == CS_STOPPED ) 00113 return SUCCESSFUL_RETURN; 00114 00115 // actually stop the clock 00116 double currentTimeInstant = acadoGetTime( ); 00117 00118 if ( currentTimeInstant < 0.0 ) 00119 return ACADOERROR( RET_NO_SYSTEM_TIME ); 00120 00121 elapsedTime += currentTimeInstant - lastTimeInstant; 00122 00123 status = CS_STOPPED; 00124 00125 return SUCCESSFUL_RETURN; 00126 } 00127 00128 00129 00130 CLOSE_NAMESPACE_ACADO 00131 00132 00133 /* 00134 * end of file 00135 */