Package rospy :: Module rostime :: Class Time

Class Time

         object --+        
                  |        
roslib.rostime.TVal --+    
                      |    
    roslib.rostime.Time --+
                          |
                         Time

Time represents the ROS 'time' primitive type, which consists of two integers: seconds since epoch and nanoseconds since seconds. Time instances are mutable.

The Time.now() factory method can initialize Time to the current ROS time and from_sec() can be used to create a Time instance from the Python's time.time() float seconds representation.

The Time class allows you to subtract Time instances to compute Durations, as well as add Durations to Time to create new Time instances.

Usage:

 now = rospy.Time.now()
 zero_time = rospy.Time()

 print 'Fields are', now.secs, now.nsecs

 # Time arithmetic
 five_secs_ago = now - rospy.Duration(5) # Time minus Duration is a Time
 five_seconds  = now - five_secs_ago  # Time minus Time is a Duration
 true_val = now > five_secs_ago

 # NOTE: in general, you will want to avoid using time.time() in ROS code
 import time
 py_time = rospy.Time.from_sec(time.time())

Instance Methods

__init__(self, secs=0, nsecs=0)
Constructor: secs and nsecs are integers and correspond to the ROS 'time' primitive type.

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__add__(self, other)
Add duration to this time (Inherited from roslib.rostime.Time)

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__cmp__(self, other)
Compare to another time (Inherited from roslib.rostime.Time)

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__eq__(self, other)
Equals test for Time. (Inherited from roslib.rostime.Time)

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__ge__(self, other)
>= test for time values (Inherited from roslib.rostime.TVal)

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__getstate__(self)
support for Python pickling (Inherited from roslib.rostime.Time)

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__gt__(self, other)
> test for time values (Inherited from roslib.rostime.TVal)

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__hash__(self)
Time values are hashable. (Inherited from roslib.rostime.TVal)

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__le__(self, other)
<= test for time values (Inherited from roslib.rostime.TVal)

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__lt__(self, other)
< test for time values (Inherited from roslib.rostime.TVal)

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__ne__(self, other) (Inherited from roslib.rostime.TVal)

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__nonzero__(self)
Check if time value is zero (Inherited from roslib.rostime.TVal)

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__repr__(self)
repr(x) (Inherited from roslib.rostime.Time)

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__setstate__(self, state)
support for Python pickling (Inherited from roslib.rostime.Time)

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__str__(self)
str(x) (Inherited from roslib.rostime.TVal)

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__sub__(self, other)
Subtract time or duration from this time (Inherited from roslib.rostime.Time)

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canon(self)
Canonicalize the field representation in this instance. (Inherited from roslib.rostime.TVal)

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bool

is_zero(self)
Returns: True if time is zero (secs and nsecs are zero) (Inherited from roslib.rostime.TVal)

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set(self, secs, nsecs)
Set time using separate secs and nsecs values (Inherited from roslib.rostime.TVal)

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long

to_nsec(self)
Returns: time as nanoseconds (Inherited from roslib.rostime.TVal)

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float

to_sec(self)
Returns: time as float seconds (same as time.time() representation) (Inherited from roslib.rostime.TVal)

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float

to_time(self)
Get Time in time.time() format. (Inherited from roslib.rostime.Time)

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Inherited from object: __delattr__, __format__, __getattribute__, __new__, __reduce__, __reduce_ex__, __setattr__, __sizeof__, __subclasshook__

Static Methods

Time

now()
Create new Time instance representing current time.

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Time

from_seconds(float_secs)
Use Time.from_sec() instead.

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Time

from_sec(float_secs)
Create new Time instance from a float seconds representation (e.g.

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Properties
	nsecs (Inherited from roslib.rostime.Time)
	secs (Inherited from roslib.rostime.Time)
Inherited from `object`: `__class__`

Method Details

init(self, secs=0, nsecs=0)
(Constructor)

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Constructor: secs and nsecs are integers and correspond to the ROS 'time' primitive type. You may prefer to use the static from_sec() and now() factory methods instead.

Parameters:

secs (int) - seconds since epoch
nsecs (int) - nanoseconds since seconds (since epoch)

Overrides: object.__init__

now()
Static Method

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Create new Time instance representing current time. This can either be wall-clock time or a simulated clock. It is strongly recommended that you use the now() factory to create current time representations instead of reading wall-clock time and create Time instances from it.

Returns: Time: Time instance for current time

from_seconds(float_secs)
Static Method

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Use Time.from_sec() instead. Retained for backwards compatibility.

Parameters:

float_secs (float) - time value in time.time() format

Returns: Time

Time instance for specified time

Overrides: roslib.rostime.Time.from_seconds

from_sec(float_secs)
Static Method

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Create new Time instance from a float seconds representation (e.g. time.time()).

Parameters:

float_secs (float) - time value in time.time() format

Returns: Time

Time instance for specified time

Overrides: roslib.rostime.Time.from_sec

Class Time

__init__(self, secs=0, nsecs=0) (Constructor)

now() Static Method

from_seconds(float_secs) Static Method

from_sec(float_secs) Static Method

init(self, secs=0, nsecs=0)
(Constructor)

now()
Static Method

from_seconds(float_secs)
Static Method

from_sec(float_secs)
Static Method