impl/duration.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
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#ifndef ROSTIME_IMPL_DURATION_H_INCLUDED
#define ROSTIME_IMPL_DURATION_H_INCLUDED
 
#include <ros/duration.h>
#include <ros/rate.h>
 
namespace roswrap {
  //
  // DurationBase template member function implementation
  //
  template<class T>
  DurationBase<T>::DurationBase(int32_t _sec, int32_t _nsec)
  : sec(_sec), nsec(_nsec)
  {
    normalizeSecNSecSigned(sec, nsec);
  }
 
  template<class T>
  T& DurationBase<T>::fromSec(double d)
  {
    sec = (int32_t)floor(d);
    nsec = (int32_t)((d - (double)sec)*1000000000);
    return *static_cast<T*>(this);
  }
 
  template<class T>
  T& DurationBase<T>::fromNSec(int64_t t)
  {
    sec  = (int32_t)(t / 1000000000);
    nsec = (int32_t)(t % 1000000000);
 
    normalizeSecNSecSigned(sec, nsec);
 
    return *static_cast<T*>(this);
  }
 
  template<class T>
  T DurationBase<T>::operator+(const T &rhs) const
  {
    return T(sec + rhs.sec, nsec + rhs.nsec);
  }
 
  template<class T>
  T DurationBase<T>::operator*(double scale) const
  {
    return T(toSec() * scale);
  }
 
  template<class T>
  T DurationBase<T>::operator-(const T &rhs) const
  {
    return T(sec - rhs.sec, nsec - rhs.nsec);
  }
 
  template<class T>
  T DurationBase<T>::operator-() const
  {
    return T(-sec , -nsec);
  }
 
  template<class T>
  T& DurationBase<T>::operator+=(const T &rhs)
  {
    *this = *this + rhs;
    return *static_cast<T*>(this);
  }
 
  template<class T>
  T& DurationBase<T>::operator-=(const T &rhs)
  {
    *this += (-rhs);
    return *static_cast<T*>(this);
  }
 
  template<class T>
  T& DurationBase<T>::operator*=(double scale)
  {
    fromSec(toSec() * scale);
    return *static_cast<T*>(this);
  }
 
  template<class T>
  bool DurationBase<T>::operator<(const T &rhs) const
  {
    if (sec < rhs.sec)
      return true;
    else if (sec == rhs.sec && nsec < rhs.nsec)
      return true;
    return false;
  }
 
  template<class T>
  bool DurationBase<T>::operator>(const T &rhs) const
  {
    if (sec > rhs.sec)
      return true;
    else if (sec == rhs.sec && nsec > rhs.nsec)
      return true;
    return false;
  }
 
  template<class T>
  bool DurationBase<T>::operator<=(const T &rhs) const
  {
    if (sec < rhs.sec)
      return true;
    else if (sec == rhs.sec && nsec <= rhs.nsec)
      return true;
    return false;
  }
 
  template<class T>
  bool DurationBase<T>::operator>=(const T &rhs) const
  {
    if (sec > rhs.sec)
      return true;
    else if (sec == rhs.sec && nsec >= rhs.nsec)
      return true;
    return false;
  }
 
  template<class T>
  bool DurationBase<T>::operator==(const T &rhs) const
  {
    return sec == rhs.sec && nsec == rhs.nsec;
  }
 
  template<class T>
  bool DurationBase<T>::isZero() const
  {
    return sec == 0 && nsec == 0;
  }
 
//  template <class T>
//   boost::posix_time::time_duration
//   DurationBase<T>::toBoost() const
//   {
//     namespace bt = boost::posix_time;
// #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
//     return bt::seconds(sec) + bt::nanoseconds(nsec);
// #else
//     return bt::seconds(sec) + bt::microseconds((int)(nsec/1000.0));
// #endif
//   }
}
#endif