time_utils.hpp

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#pragma once
 
#include <ros/duration.h>
#include <ros/rate.h>
#include <ros/time.h>
 
namespace cras
{
 
::ros::Duration remainingTime(const ::ros::Time& query, double timeout);
 
::ros::Duration remainingTime(const ::ros::Time& query, const ::ros::Duration& timeout);
 
double frequency(const ::ros::Rate& rate, bool maxCycleTimeMeansZero = false);
 
double frequency(const ::ros::WallRate& rate, bool maxCycleTimeMeansZero = false);
 
::ros::Rate safeRate(double frequency);
 
::ros::WallRate safeWallRate(double frequency);
 
::ros::Time nowFallbackToWall();
 
::ros::Time saturateAdd(const ::ros::Time& time, const ::ros::Duration& duration);
 
::ros::WallTime saturateAdd(const ::ros::WallTime& time, const ::ros::WallDuration& duration);
 
::ros::SteadyTime saturateAdd(const ::ros::SteadyTime& time, const ::ros::WallDuration& duration);
 
}
 
namespace ros
{
 
bool operator==(const ::ros::Rate& r1, const ::ros::Rate& r2);
 
bool operator==(const ::ros::WallRate& r1, const ::ros::WallRate& r2);
 
::ros::Duration operator*(const ::ros::Duration& val1, const ::ros::Duration& val2);
 
::ros::Duration operator/(const ::ros::Duration& numerator, const ::ros::Duration& denominator);
 
::ros::WallDuration operator*(const ::ros::WallDuration& val1, const ::ros::WallDuration& val2);
 
::ros::WallDuration operator/(const ::ros::WallDuration& numerator, const ::ros::WallDuration& denominator);
 
}