duration.h
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34 
35 #ifndef ROS_DURATION_H
36 #define ROS_DURATION_H
37 
38 /*********************************************************************
39  ** Pragmas
40  *********************************************************************/
41 
42 #ifdef _MSC_VER
43  // Rostime has some magic interface that doesn't directly include
44  // its implementation, this just disbales those warnings.
45  #pragma warning(disable: 4244)
46  #pragma warning(disable: 4661)
47 #endif
48 
49 #include <iostream>
50 #include <math.h>
51 #include <stdexcept>
52 #include <climits>
53 #include <stdint.h>
54 #include "rostime_decl.h"
55 
56 namespace boost {
57  namespace posix_time {
58  class time_duration;
59  }
60 }
61 
62 namespace ros
63 {
64 ROSTIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
65 ROSTIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
66 
71 template <class T>
73 {
74 public:
75  int32_t sec, nsec;
76  DurationBase() : sec(0), nsec(0) { }
77  DurationBase(int32_t _sec, int32_t _nsec);
78  explicit DurationBase(double t){fromSec(t);};
80  T operator+(const T &rhs) const;
81  T operator-(const T &rhs) const;
82  T operator-() const;
83  T operator*(double scale) const;
84  T& operator+=(const T &rhs);
85  T& operator-=(const T &rhs);
86  T& operator*=(double scale);
87  bool operator==(const T &rhs) const;
88  inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
89  bool operator>(const T &rhs) const;
90  bool operator<(const T &rhs) const;
91  bool operator>=(const T &rhs) const;
92  bool operator<=(const T &rhs) const;
93  double toSec() const { return (double)sec + 1e-9*(double)nsec; };
94  int64_t toNSec() const {return (int64_t)sec*1000000000ll + (int64_t)nsec; };
95  T& fromSec(double t);
96  T& fromNSec(int64_t t);
97  bool isZero() const;
98  boost::posix_time::time_duration toBoost() const;
99 };
100 
101 class Rate;
102 
108 class ROSTIME_DECL Duration : public DurationBase<Duration>
109 {
110 public:
113  { }
114 
115  Duration(int32_t _sec, int32_t _nsec)
116  : DurationBase<Duration>(_sec, _nsec)
117  {}
118 
119  explicit Duration(double t) { fromSec(t); }
120  explicit Duration(const Rate&);
125  bool sleep() const;
126 };
127 
128 extern ROSTIME_DECL const Duration DURATION_MAX;
129 extern ROSTIME_DECL const Duration DURATION_MIN;
130 
136 class ROSTIME_DECL WallDuration : public DurationBase<WallDuration>
137 {
138 public:
141  { }
142 
143  WallDuration(int32_t _sec, int32_t _nsec)
144  : DurationBase<WallDuration>(_sec, _nsec)
145  {}
146 
147  explicit WallDuration(double t) { fromSec(t); }
148  explicit WallDuration(const Rate&);
153  bool sleep() const;
154 };
155 
156 std::ostream &operator <<(std::ostream &os, const Duration &rhs);
157 std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);
158 
159 
160 }
161 
162 #endif // ROS_DURATION_H
163 
164 
double toSec() const
Definition: duration.h:93
Duration(int32_t _sec, int32_t _nsec)
Definition: duration.h:115
std::ostream & operator<<(std::ostream &os, const WallDuration &rhs)
Definition: src/time.cpp:530
Definition: duration.h:56
DurationBase(double t)
Definition: duration.h:78
Duration(double t)
Definition: duration.h:119
Class to help run loops at a desired frequency.
Definition: rate.h:51
Duration representation for use with the WallTime class.
Definition: duration.h:136
ROSTIME_DECL void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
int64_t toNSec() const
Definition: duration.h:94
bool operator!=(const T &rhs) const
Definition: duration.h:88
WallDuration(int32_t _sec, int32_t _nsec)
Definition: duration.h:143
Base class for Duration implementations. Provides storage, common functions and operator overloads...
Definition: duration.h:72
WallDuration(double t)
Definition: duration.h:147
Duration representation for use with the Time class.
Definition: duration.h:108
ROSTIME_DECL const Duration DURATION_MIN
ROSTIME_DECL const Duration DURATION_MAX
#define ROSTIME_DECL
Definition: rostime_decl.h:52


rostime
Author(s): Josh Faust
autogenerated on Thu Dec 21 2017 03:22:01