trajectory_time.cc
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1 /*
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7  * Author: Christian Emmerich
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35 
36 #include "trajectory_time.h"
37 
38 #include <stdexcept>
39 
40 namespace rc
41 {
42 TrajectoryTime TrajectoryTime::Absolute(unsigned long sec, unsigned long nsec)
43 {
44  return TrajectoryTime(sec, nsec, false);
45 }
46 
47 TrajectoryTime TrajectoryTime::RelativeToStart(unsigned long sec, unsigned long nsec)
48 {
49  return TrajectoryTime(sec, nsec, true);
50 }
51 
52 TrajectoryTime TrajectoryTime::RelativeToEnd(unsigned long sec, unsigned long nsec)
53 {
54  return TrajectoryTime(-sec, -nsec, true);
55 }
56 
57 TrajectoryTime::TrajectoryTime(long sec, long nsec, bool relative) : relative_(relative), sec_(sec), nsec_(nsec)
58 {
59  if (!relative && (sec < 0 || nsec < 0))
60  {
61  throw std::invalid_argument("Negative values for sec or nsec are only allowed for relative time specification!");
62  }
63 }
64 }
TrajectoryTime(long sec, long nsec, bool relative)
Full constructor for specifiying a time either as relative offset or as absolute timestamp.
static TrajectoryTime RelativeToEnd(unsigned long sec=0, unsigned long nsec=0)
Creates a time stamp from the given values as an offset from the end point of the trajectory...
static TrajectoryTime RelativeToStart(unsigned long sec=0, unsigned long nsec=0)
Creates a time stamp from the given values as an offset to the start point of the trajectory...
static TrajectoryTime Absolute(unsigned long sec, unsigned long nsec)
Creates an absolute time stamp of the given values.
Represents a time stamp to query the trajectory of rcvisard&#39;s slam module.


rc_dynamics_api
Author(s): Heiko Hirschmueller , Christian Emmerich , Felix Endres
autogenerated on Sat Mar 6 2021 03:53:19