time.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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#ifndef PCL_TIME_H_
#define PCL_TIME_H_

#ifdef __GNUC__
#pragma GCC system_header 
#endif

#include <cmath>
#include <string>
#include <boost/date_time/posix_time/posix_time.hpp>

namespace pcl
{
  class StopWatch
  {
    public:
      StopWatch () : start_time_ (boost::posix_time::microsec_clock::local_time ())
      {
      }

      virtual ~StopWatch () {}

      inline double
      getTime ()
      {
        boost::posix_time::ptime end_time = boost::posix_time::microsec_clock::local_time ();
        return (static_cast<double> (((end_time - start_time_).total_milliseconds ())));
      }

      inline double
      getTimeSeconds ()
      {
        return (getTime () * 0.001f);
      }

      inline void
      reset ()
      {
        start_time_ = boost::posix_time::microsec_clock::local_time ();
      }

    protected:
      boost::posix_time::ptime start_time_;
  };

  class ScopeTime : public StopWatch
  {
    public:
      inline ScopeTime (const char* title) : 
        title_ (std::string (title))
      {
        start_time_ = boost::posix_time::microsec_clock::local_time ();
      }

      inline ScopeTime () :
        title_ (std::string (""))
      {
        start_time_ = boost::posix_time::microsec_clock::local_time ();
      }

      inline ~ScopeTime ()
      {
        double val = this->getTime ();
        std::cerr << title_ << " took " << val << "ms.\n";
      }

    private:
      std::string title_;
  };


#ifndef MEASURE_FUNCTION_TIME
#define MEASURE_FUNCTION_TIME \
  ScopeTime scopeTime(__func__)
#endif

inline double 
getTime ()
{
  boost::posix_time::ptime epoch_time (boost::gregorian::date (1970, 1, 1));
  boost::posix_time::ptime current_time = boost::posix_time::microsec_clock::local_time ();
  return (static_cast<double>((current_time - epoch_time).total_nanoseconds ()) * 1.0e-9);
}

#ifndef DO_EVERY_TS
#define DO_EVERY_TS(secs, currentTime, code) \
if (1) {\
  static double s_lastDone_ = 0.0; \
  double s_now_ = (currentTime); \
  if (s_lastDone_ > s_now_) \
    s_lastDone_ = s_now_; \
  if ((s_now_ - s_lastDone_) > (secs)) {        \
    code; \
    s_lastDone_ = s_now_; \
  }\
} else \
  (void)0
#endif

#ifndef DO_EVERY
#define DO_EVERY(secs, code) \
  DO_EVERY_TS(secs, pcl::getTime(), code)
#endif

}  // end namespace
#endif  //#ifndef PCL_NORMS_H_