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/* 

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 *

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

 * All rights reserved.

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

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 *    with the distribution.

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 */

#ifndef ROS_TIME_H_

#define ROS_TIME_H_

#include <ros/duration.h>

#include <math.h>

namespace ros

{

  void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);

  class Time

  {

    public:

      unsigned long sec, nsec;

      Time() : sec(0), nsec(0) {}

      Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec)

      {

        normalizeSecNSec(sec, nsec);  

      } 

      double toSec() const { return (double)sec + 1e-9*(double)nsec; };

      void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) round((t-sec) * 1e9); };

      unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; };

      Time& fromNSec(long t);

      Time& operator +=(const Duration &rhs);

      Time& operator -=(const Duration &rhs);

      static Time now();

      static void setNow( Time & new_now);

  };

}

#endif