time.h

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#ifndef MRPT_BRIDGE_TIME_H
#define MRPT_BRIDGE_TIME_H

#include <mrpt/system/datetime.h>
#include <ros/time.h>

namespace mrpt_bridge
{
inline void convert(const ros::Time& src, mrpt::system::TTimeStamp& des)
{
        // return (((uint64_t)src.sec) * (uint64_t)10000000) +
        // ((uint64_t)116444736*1000000000);
        des = mrpt::system::time_tToTimestamp((time_t)src.sec) + src.nsec / 100;
        // printf("nsec    %" PRIu64 "\n", des);
}

inline void convert(const mrpt::system::TTimeStamp& src, ros::Time& des)
{
        des.sec = ((uint64_t)src) / ((uint64_t)10000000) -
                          (((uint64_t)116444736) * ((uint64_t)100));
        des.nsec = ((uint64_t)src) % ((uint64_t)10000000) * 100;
        // printf("ros.sec       %" PRIu32 "\n", des.sec);
        // printf("ros.nsec      %" PRIu32 "\n", des.nsec);
}

};  // namespace mrpt_bridge

#endif