root / quad2 / arduino / src / ros_lib / ros / time.h @ c1426757
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote prducts derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROS_TIME_H_
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#define ROS_TIME_H_
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#include <ros/duration.h> |
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#include <math.h> |
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namespace ros |
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{ |
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void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); |
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class Time |
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{ |
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public:
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unsigned long sec, nsec; |
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Time() : sec(0), nsec(0) {} |
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Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) |
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{ |
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normalizeSecNSec(sec, nsec); |
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} |
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double toSec() const { return (double)sec + 1e-9*(double)nsec; }; |
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void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); }; |
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unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; }; |
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Time& fromNSec(long t);
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Time& operator +=(const Duration &rhs);
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Time& operator -=(const Duration &rhs);
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static Time now();
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static void setNow( Time & new_now); |
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}; |
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} |
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#endif
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