UTimer.cpp
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00001 /*
00002 *  utilite is a cross-platform library with
00003 *  useful utilities for fast and small developing.
00004 *  Copyright (C) 2010  Mathieu Labbe
00005 *
00006 *  utilite is free library: you can redistribute it and/or modify
00007 *  it under the terms of the GNU Lesser General Public License as published by
00008 *  the Free Software Foundation, either version 3 of the License, or
00009 *  (at your option) any later version.
00010 *
00011 *  utilite is distributed in the hope that it will be useful,
00012 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 *  GNU Lesser General Public License for more details.
00015 *
00016 *  You should have received a copy of the GNU Lesser General Public License
00017 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 */
00019 
00020 #include "rtabmap/utilite/UTimer.h"
00021 #include "rtabmap/utilite/ULogger.h"
00022 
00024 // public:
00026 UTimer::UTimer()
00027 {
00028 #ifdef _WIN32
00029     QueryPerformanceFrequency(&frequency_);
00030 #endif
00031     start(); // This will initialize the private counters
00032 }
00033 
00034 UTimer::~UTimer() {}
00035 
00036 #ifdef _WIN32
00037 double UTimer::now()
00038 {
00039     LARGE_INTEGER count, freq;
00040     QueryPerformanceFrequency(&freq);
00041     QueryPerformanceCounter(&count);
00042     return double(count.QuadPart) / freq.QuadPart;
00043 }
00044 
00045 void UTimer::start()
00046 {
00047     QueryPerformanceCounter(&startTimeRecorded_);
00048     stopTimeRecorded_ = startTimeRecorded_;
00049 }
00050 void UTimer::stop()
00051 {
00052     QueryPerformanceCounter(&stopTimeRecorded_);
00053 
00054 }
00055 double UTimer::getElapsedTime()
00056 {
00057         LARGE_INTEGER now;
00058         QueryPerformanceCounter(&now);
00059     return double(now.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
00060 }
00061 double UTimer::getInterval()
00062 {
00063         if(stopTimeRecorded_.QuadPart == startTimeRecorded_.QuadPart)
00064         {
00065                 return getElapsedTime();
00066         }
00067         else
00068         {
00069                 return double(stopTimeRecorded_.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
00070         }
00071 }
00072 #else
00073 double UTimer::now()
00074 {
00075     struct timeval tv;
00076     gettimeofday(&tv, NULL);
00077     return double(tv.tv_sec) + double(tv.tv_usec) / 1000000.0;
00078 }
00079 
00080 void UTimer::start()
00081 {
00082     gettimeofday(&startTimeRecorded_, NULL);
00083     stopTimeRecorded_ = startTimeRecorded_;
00084 }
00085 void UTimer::stop()
00086 {
00087     gettimeofday(&stopTimeRecorded_, NULL);
00088 
00089 }
00090 double UTimer::getElapsedTime()
00091 {
00092         return UTimer::now() - (double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0);
00093 
00094 }
00095 double UTimer::getInterval()
00096 {
00097         if(startTimeRecorded_.tv_sec == stopTimeRecorded_.tv_sec && startTimeRecorded_.tv_usec == stopTimeRecorded_.tv_usec)
00098         {
00099                 return getElapsedTime();
00100         }
00101         else
00102         {
00103                 double start = double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0;
00104                 double stop = double(stopTimeRecorded_.tv_sec) + double(stopTimeRecorded_.tv_usec) / 1000000.0;
00105                 return stop - start;
00106         }
00107 }
00108 #endif
00109 
00110 double UTimer::ticks()        // Stop->start and return Interval
00111 {
00112     double inter = elapsed();
00113     start();
00114     return inter;
00115 }


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:32