time.hpp

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// Copyright 2015-2016, Open Source Robotics Foundation, Inc. All rights reserved.
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#ifndef TF2__TIME_HPP_
#define TF2__TIME_HPP_
 
#include <chrono>
#include <cmath>
#include <string>
 
#include "tf2/visibility_control.h"
 
namespace tf2
{
using Duration = std::chrono::nanoseconds;
using TimePoint = std::chrono::time_point<std::chrono::system_clock, Duration>;
 
using IDuration = std::chrono::duration<int, std::nano>;
// This is the zero time in ROS
static const TimePoint TimePointZero = TimePoint(IDuration::zero());
 
TF2_PUBLIC
TimePoint get_now();
 
TF2_PUBLIC
Duration durationFromSec(double t_sec);
 
TF2_PUBLIC
TimePoint timeFromSec(double t_sec);
 
TF2_PUBLIC
double durationToSec(const tf2::Duration & input);
 
TF2_PUBLIC
double timeToSec(const TimePoint & timepoint);
 
TF2_PUBLIC
std::string displayTimePoint(const TimePoint & stamp);
 
}  // namespace tf2
 
#endif  // TF2__TIME_HPP_