trajectory_time.h

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/*
 * This file is part of the rc_dynamics_api package.
 *
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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
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 */

#ifndef RC_DYNAMICS_API_TRAJECTORY_TIME_H
#define RC_DYNAMICS_API_TRAJECTORY_TIME_H

namespace rc
{
class TrajectoryTime
{
public:
  static TrajectoryTime Absolute(unsigned long sec, unsigned long nsec);

  static TrajectoryTime RelativeToStart(unsigned long sec = 0, unsigned long nsec = 0);

  static TrajectoryTime RelativeToEnd(unsigned long sec = 0, unsigned long nsec = 0);

  TrajectoryTime(long sec, long nsec, bool relative);

  inline bool isRelative() const
  {
    return relative_;
  }

  inline long getSec() const
  {
    return sec_;
  }

  inline long getNsec() const
  {
    return nsec_;
  }

protected:
  bool relative_;
  long sec_, nsec_;
};
}

#endif  // RC_DYNAMICS_API_TRAJECTORY_TIME_H