duration.h
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00034 
00035 #ifndef ROS_DURATION_H
00036 #define ROS_DURATION_H
00037 
00038 /*********************************************************************
00039  ** Pragmas
00040  *********************************************************************/
00041 
00042 #ifdef _MSC_VER
00043   // Rostime has some magic interface that doesn't directly include
00044   // its implementation, this just disbales those warnings.
00045   #pragma warning(disable: 4244)
00046   #pragma warning(disable: 4661)
00047 #endif
00048 
00049 #include <iostream>
00050 #include <math.h>
00051 #include <stdexcept>
00052 #include <climits>
00053 #include <stdint.h>
00054 #include "rostime_decl.h"
00055 
00056 namespace boost {
00057   namespace posix_time {
00058     class time_duration;
00059   }
00060 }
00061 
00062 namespace ros
00063 {
00064 ROSTIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
00065 ROSTIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
00066 
00071 template <class T>
00072 class DurationBase
00073 {
00074 public:
00075   int32_t sec, nsec;
00076   DurationBase() : sec(0), nsec(0) { }
00077   DurationBase(int32_t _sec, int32_t _nsec);
00078   explicit DurationBase(double t){fromSec(t);};
00079   ~DurationBase() {}
00080   T operator+(const T &rhs) const;
00081   T operator-(const T &rhs) const;
00082   T operator-() const;
00083   T operator*(double scale) const;
00084   T& operator+=(const T &rhs);
00085   T& operator-=(const T &rhs);
00086   T& operator*=(double scale);
00087   bool operator==(const T &rhs) const;
00088   inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
00089   bool operator>(const T &rhs) const;
00090   bool operator<(const T &rhs) const;
00091   bool operator>=(const T &rhs) const;
00092   bool operator<=(const T &rhs) const;
00093   double toSec() const { return (double)sec + 1e-9*(double)nsec; };
00094   int64_t toNSec() const {return (int64_t)sec*1000000000ll + (int64_t)nsec;  };
00095   T& fromSec(double t);
00096   T& fromNSec(int64_t t);
00097   bool isZero() const;
00098   boost::posix_time::time_duration toBoost() const;
00099 };
00100 
00101 class Rate;
00102 
00108 class ROSTIME_DECL Duration : public DurationBase<Duration>
00109 {
00110 public:
00111   Duration()
00112   : DurationBase<Duration>()
00113   { }
00114 
00115   Duration(int32_t _sec, int32_t _nsec)
00116   : DurationBase<Duration>(_sec, _nsec)
00117   {}
00118 
00119   explicit Duration(double t) { fromSec(t); }
00120   explicit Duration(const Rate&);
00124   bool sleep() const;
00125 };
00126 
00127 extern ROSTIME_DECL const Duration DURATION_MAX;
00128 extern ROSTIME_DECL const Duration DURATION_MIN;
00129 
00135 class ROSTIME_DECL WallDuration : public DurationBase<WallDuration>
00136 {
00137 public:
00138   WallDuration()
00139   : DurationBase<WallDuration>()
00140   { }
00141 
00142   WallDuration(int32_t _sec, int32_t _nsec)
00143   : DurationBase<WallDuration>(_sec, _nsec)
00144   {}
00145 
00146   explicit WallDuration(double t) { fromSec(t); }
00147   explicit WallDuration(const Rate&);
00151   bool sleep() const;
00152 };
00153 
00154 std::ostream &operator <<(std::ostream &os, const Duration &rhs);
00155 std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);
00156 
00157 
00158 }
00159 
00160 #endif // ROS_DURATION_H
00161 
00162 


rostime
Author(s): Josh Faust
autogenerated on Wed Mar 8 2017 03:55:05