00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include "ros/time.h" 00036 00037 namespace ros 00038 { 00039 void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){ 00040 unsigned long nsec_part= nsec % 1000000000UL; 00041 unsigned long sec_part = nsec / 1000000000UL; 00042 sec += sec_part; 00043 nsec = nsec_part; 00044 } 00045 00046 Time& Time::fromNSec(long t) 00047 { 00048 sec = t / 1000000000; 00049 nsec = t % 1000000000; 00050 normalizeSecNSec(sec, nsec); 00051 return *this; 00052 } 00053 00054 Time& Time::operator +=(const Duration &rhs) 00055 { 00056 sec += rhs.sec; 00057 nsec += rhs.nsec; 00058 normalizeSecNSec(sec, nsec); 00059 return *this; 00060 } 00061 00062 Time& Time::operator -=(const Duration &rhs){ 00063 sec += -rhs.sec; 00064 nsec += -rhs.nsec; 00065 normalizeSecNSec(sec, nsec); 00066 return *this; 00067 } 00068 00069 }