time.h

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#ifndef ROS_TIME_H_
#define ROS_TIME_H_

#include <ros/duration.h>
#include <math.h>

namespace ros
{
  void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);

  class Time
  {
    public:
      unsigned long sec, nsec;

      Time() : sec(0), nsec(0) {}
      Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec)
      {
        normalizeSecNSec(sec, nsec);  
      } 
        
      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
      void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); };

      unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; };
      Time& fromNSec(long t);

      Time& operator +=(const Duration &rhs);
      Time& operator -=(const Duration &rhs);

      static Time now();
      static void setNow( Time & new_now);
  };

}

#endif