You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
169 lines
4.4 KiB
169 lines
4.4 KiB
/*********************************************************************
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2010, 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 products 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,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*********************************************************************/
|
|
#ifndef ROSTIME_IMPL_DURATION_H_INCLUDED
|
|
#define ROSTIME_IMPL_DURATION_H_INCLUDED
|
|
|
|
#include <ros/duration.h>
|
|
#include <ros/rate.h>
|
|
|
|
namespace rs2rosinternal {
|
|
//
|
|
// DurationBase template member function implementation
|
|
//
|
|
template<class T>
|
|
DurationBase<T>::DurationBase(int32_t _sec, int32_t _nsec)
|
|
: sec(_sec), nsec(_nsec)
|
|
{
|
|
normalizeSecNSecSigned(sec, nsec);
|
|
}
|
|
|
|
template<class T>
|
|
T& DurationBase<T>::fromSec(double d)
|
|
{
|
|
sec = (int32_t)floor(d);
|
|
nsec = (int32_t)((d - (double)sec)*1000000000);
|
|
return *static_cast<T*>(this);
|
|
}
|
|
|
|
template<class T>
|
|
T& DurationBase<T>::fromNSec(int64_t t)
|
|
{
|
|
sec = (int32_t)(t / 1000000000);
|
|
nsec = (int32_t)(t % 1000000000);
|
|
|
|
normalizeSecNSecSigned(sec, nsec);
|
|
|
|
return *static_cast<T*>(this);
|
|
}
|
|
|
|
template<class T>
|
|
T DurationBase<T>::operator+(const T &rhs) const
|
|
{
|
|
return T(sec + rhs.sec, nsec + rhs.nsec);
|
|
}
|
|
|
|
template<class T>
|
|
T DurationBase<T>::operator*(double scale) const
|
|
{
|
|
return T(toSec() * scale);
|
|
}
|
|
|
|
template<class T>
|
|
T DurationBase<T>::operator-(const T &rhs) const
|
|
{
|
|
return T(sec - rhs.sec, nsec - rhs.nsec);
|
|
}
|
|
|
|
template<class T>
|
|
T DurationBase<T>::operator-() const
|
|
{
|
|
return T(-sec , -nsec);
|
|
}
|
|
|
|
template<class T>
|
|
T& DurationBase<T>::operator+=(const T &rhs)
|
|
{
|
|
*this = *this + rhs;
|
|
return *static_cast<T*>(this);
|
|
}
|
|
|
|
template<class T>
|
|
T& DurationBase<T>::operator-=(const T &rhs)
|
|
{
|
|
*this += (-rhs);
|
|
return *static_cast<T*>(this);
|
|
}
|
|
|
|
template<class T>
|
|
T& DurationBase<T>::operator*=(double scale)
|
|
{
|
|
fromSec(toSec() * scale);
|
|
return *static_cast<T*>(this);
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::operator<(const T &rhs) const
|
|
{
|
|
if (sec < rhs.sec)
|
|
return true;
|
|
else if (sec == rhs.sec && nsec < rhs.nsec)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::operator>(const T &rhs) const
|
|
{
|
|
if (sec > rhs.sec)
|
|
return true;
|
|
else if (sec == rhs.sec && nsec > rhs.nsec)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::operator<=(const T &rhs) const
|
|
{
|
|
if (sec < rhs.sec)
|
|
return true;
|
|
else if (sec == rhs.sec && nsec <= rhs.nsec)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::operator>=(const T &rhs) const
|
|
{
|
|
if (sec > rhs.sec)
|
|
return true;
|
|
else if (sec == rhs.sec && nsec >= rhs.nsec)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::operator==(const T &rhs) const
|
|
{
|
|
return sec == rhs.sec && nsec == rhs.nsec;
|
|
}
|
|
|
|
template<class T>
|
|
bool DurationBase<T>::isZero() const
|
|
{
|
|
return sec == 0 && nsec == 0;
|
|
}
|
|
|
|
}
|
|
#endif
|