forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathduration.hpp
More file actions
113 lines (83 loc) · 2.9 KB
/
duration.hpp
File metadata and controls
113 lines (83 loc) · 2.9 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__DURATION_HPP_
#define RCLCPP__DURATION_HPP_
#include <chrono>
#include "builtin_interfaces/msg/duration.hpp"
#include "rcl/time.h"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
class RCLCPP_PUBLIC Duration
{
public:
Duration(int32_t seconds, uint32_t nanoseconds);
explicit Duration(rcl_duration_value_t nanoseconds);
explicit Duration(std::chrono::nanoseconds nanoseconds);
// intentionally not using explicit to create a conversion constructor
template<class Rep, class Period>
// cppcheck-suppress noExplicitConstructor
Duration(const std::chrono::duration<Rep, Period> & duration) // NOLINT(runtime/explicit)
: Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(duration))
{}
// cppcheck-suppress noExplicitConstructor
Duration(const builtin_interfaces::msg::Duration & duration_msg); // NOLINT(runtime/explicit)
explicit Duration(const rcl_duration_t & duration);
Duration(const Duration & rhs);
virtual ~Duration() = default;
operator builtin_interfaces::msg::Duration() const;
// cppcheck-suppress operatorEq // this is a false positive from cppcheck
Duration &
operator=(const Duration & rhs);
Duration &
operator=(const builtin_interfaces::msg::Duration & Duration_msg);
bool
operator==(const rclcpp::Duration & rhs) const;
bool
operator<(const rclcpp::Duration & rhs) const;
bool
operator<=(const rclcpp::Duration & rhs) const;
bool
operator>=(const rclcpp::Duration & rhs) const;
bool
operator>(const rclcpp::Duration & rhs) const;
Duration
operator+(const rclcpp::Duration & rhs) const;
Duration
operator-(const rclcpp::Duration & rhs) const;
static
Duration
max();
Duration
operator*(double scale) const;
rcl_duration_value_t
nanoseconds() const;
/// \return the duration in seconds as a floating point number.
/// \warning Depending on sizeof(double) there could be significant precision loss.
/// When an exact time is required use nanoseconds() instead.
double
seconds() const;
template<class DurationT>
DurationT
to_chrono() const
{
return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
}
rmw_time_t
to_rmw_time() const;
private:
rcl_duration_t rcl_duration_;
};
} // namespace rclcpp
#endif // RCLCPP__DURATION_HPP_