time.h

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#ifndef MRPT_BRIDGE_TIME_H
#define MRPT_BRIDGE_TIME_H

#include <mrpt/system/datetime.h>
#include <ros/time.h>

namespace mrpt_bridge {

inline void convert(const ros::Time &src, mrpt::system::TTimeStamp &des) {
    //return (((uint64_t)src.sec) * (uint64_t)10000000) + ((uint64_t)116444736*1000000000);
    des = mrpt::system::time_tToTimestamp((time_t) src.sec) + src.nsec/100;
    // printf("nsec    %" PRIu64 "\n", des);
}

inline void convert(const mrpt::system::TTimeStamp &src, ros::Time &des) {
  des.sec = ((uint64_t)src)  / ((uint64_t) 10000000) - (((uint64_t) 116444736) * ((uint64_t) 100));
  des.nsec = ((uint64_t)src)  % ((uint64_t) 10000000) * 100;
  //printf("ros.sec       %" PRIu32 "\n", des.sec);
  //printf("ros.nsec      %" PRIu32 "\n", des.nsec);
}

}; //namespace mrpt_bridge

#endif