Timer.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #include "Timer.h"
00037 
00038 #ifdef __MACH__
00039 #include <mach/clock.h>
00040 #include <mach/mach.h>
00041 #endif
00042 
00043 #ifdef _POSIX_TIMERS
00044 namespace PointMatcherSupport
00045 {
00046         timer::timer():
00047                 _start_time(curTime())
00048         {
00049         } 
00050         
00051         void timer::restart()
00052         {
00053                 _start_time = curTime();
00054         }
00055         
00056         double timer::elapsed() const
00057         {
00058                 return  double(curTime() - _start_time) / double(1000000000);
00059         }
00060         
00061         timer::Time timer::curTime() const
00062         {
00063                 #ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
00064                 clock_serv_t host_clock;
00065                 mach_timespec_t now;
00066                 host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &host_clock);
00067                 clock_get_time(host_clock, &now);
00068                 return Time(now.tv_sec) * Time(1000000000) + Time(now.tv_nsec);
00069                 #else // __MACH__
00070                 struct timespec ts;
00071                 #ifdef CLOCK_PROCESS_CPUTIME_ID
00072                 clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
00073                 #else // BSD and old Linux
00074                 clock_gettime(CLOCK_PROF, &ts);
00075                 #endif
00076                 return Time(ts.tv_sec) * Time(1000000000) + Time(ts.tv_nsec);
00077                 #endif // __MACH__
00078         }
00079 } // namespace PointMatcherSupport
00080 #endif // _POSIX_TIMERS
00081 


upstream_src
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autogenerated on Mon Oct 6 2014 10:27:42