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/* 

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions

 * are met:

 *

 *  * Redistributions of source code must retain the above copyright

 *    notice, this list of conditions and the following disclaimer.

 *  * Redistributions in binary form must reproduce the above

 *    copyright notice, this list of conditions and the following

 *    disclaimer in the documentation and/or other materials provided

 *    with the distribution.

 *  * Neither the name of Willow Garage, Inc. nor the names of its

 *    contributors may be used to endorse or promote prducts derived

 *    from this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

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 */

#include <math.h>

#include "ros/duration.h"

namespace ros

{

  void normalizeSecNSecSigned(long &sec, long &nsec)

  {

    long nsec_part = nsec;

    long sec_part = sec;

    while (nsec_part > 1000000000L)

    {

      nsec_part -= 1000000000L;

      ++sec_part;

    }

    while (nsec_part < 0)

    {

      nsec_part += 1000000000L;

      --sec_part;

    }

    sec = sec_part;

    nsec = nsec_part;

  }

  Duration& Duration::operator+=(const Duration &rhs)

  {

    sec += rhs.sec;

    nsec += rhs.nsec;

    normalizeSecNSecSigned(sec, nsec);

    return *this;

  }

  Duration& Duration::operator-=(const Duration &rhs){

    sec += -rhs.sec;

    nsec += -rhs.nsec;

    normalizeSecNSecSigned(sec, nsec);

    return *this;

  }

  Duration& Duration::operator*=(double scale){

    sec *= scale;

    nsec *= scale;

    normalizeSecNSecSigned(sec, nsec);

    return *this;

  }

}