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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