trajectory_time.h
Go to the documentation of this file.
00001 /*
00002  * This file is part of the rc_dynamics_api package.
00003  *
00004  * Copyright (c) 2017 Roboception GmbH
00005  * All rights reserved
00006  *
00007  * Author: Christian Emmerich
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  * 1. Redistributions of source code must retain the above copyright notice,
00013  * this list of conditions and the following disclaimer.
00014  *
00015  * 2. Redistributions in binary form must reproduce the above copyright notice,
00016  * this list of conditions and the following disclaimer in the documentation
00017  * and/or other materials provided with the distribution.
00018  *
00019  * 3. Neither the name of the copyright holder nor the names of its contributors
00020  * may be used to endorse or promote products derived from this software without
00021  * specific prior written permission.
00022  *
00023  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00024  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00025  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00026  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
00027  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00028  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00029  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00030  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00031  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00032  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  * POSSIBILITY OF SUCH DAMAGE.
00034  */
00035 
00036 #ifndef RC_DYNAMICS_API_TRAJECTORY_TIME_H
00037 #define RC_DYNAMICS_API_TRAJECTORY_TIME_H
00038 
00039 namespace rc
00040 {
00056 class TrajectoryTime
00057 {
00058 public:
00065   static TrajectoryTime Absolute(unsigned long sec, unsigned long nsec);
00066 
00074   static TrajectoryTime RelativeToStart(unsigned long sec = 0, unsigned long nsec = 0);
00075 
00083   static TrajectoryTime RelativeToEnd(unsigned long sec = 0, unsigned long nsec = 0);
00084 
00095   TrajectoryTime(long sec, long nsec, bool relative);
00096 
00097   inline bool isRelative() const
00098   {
00099     return relative_;
00100   }
00101 
00102   inline long getSec() const
00103   {
00104     return sec_;
00105   }
00106 
00107   inline long getNsec() const
00108   {
00109     return nsec_;
00110   }
00111 
00112 protected:
00113   bool relative_;
00114   long sec_, nsec_;
00115 };
00116 }
00117 
00118 #endif  // RC_DYNAMICS_API_TRAJECTORY_TIME_H


rc_dynamics_api
Author(s): Heiko Hirschmueller , Christian Emmerich , Felix Endres
autogenerated on Thu May 9 2019 02:13:50