rclcpp::Time Class Reference

#include <time.hpp>

Public Member Functions
	Time (int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Time constructor. More...
	Time (int64_t nanoseconds=0, rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Time constructor. More...
	Time (const Time &rhs)
	Copy constructor. More...
	Time (const builtin_interfaces::msg::Time &time_msg, rcl_clock_type_t clock_type=RCL_ROS_TIME)
	Time constructor. More...
	Time (const rcl_time_point_t &time_point)
	Time constructor. More...
virtual	~Time ()
	Time destructor. More...
	operator builtin_interfaces::msg::Time () const
	Return a builtin_interfaces::msg::Time object based. More...
Time &	operator= (const Time &rhs)
Time &	operator= (const builtin_interfaces::msg::Time &time_msg)
bool	operator== (const rclcpp::Time &rhs) const
bool	operator!= (const rclcpp::Time &rhs) const
bool	operator< (const rclcpp::Time &rhs) const
bool	operator<= (const rclcpp::Time &rhs) const
bool	operator>= (const rclcpp::Time &rhs) const
bool	operator> (const rclcpp::Time &rhs) const
Time	operator+ (const rclcpp::Duration &rhs) const
Duration	operator- (const rclcpp::Time &rhs) const
Time	operator- (const rclcpp::Duration &rhs) const
Time &	operator+= (const rclcpp::Duration &rhs)
Time &	operator-= (const rclcpp::Duration &rhs)
rcl_time_point_value_t	nanoseconds () const
	Get the nanoseconds since epoch. More...
double	seconds () const
	Get the seconds since epoch. More...
rcl_clock_type_t	get_clock_type () const
	Get the clock type. More...

Static Public Member Functions
static Time	max ()
	Get the maximum representable value. More...

Constructor & Destructor Documentation

Time() [1/5]

rclcpp::Time::Time	(	int32_t	seconds,
		uint32_t	nanoseconds,
		rcl_clock_type_t	clock_type = RCL_SYSTEM_TIME
	)

Time constructor.

Initializes the time values for seconds and nanoseconds individually. Large values for nanoseconds are wrapped automatically with the remainder added to seconds. Both inputs must be integers.

Parameters

seconds	part of the time in seconds since time epoch
nanoseconds	part of the time in nanoseconds since time epoch
clock_type	clock type

Exceptions

std::runtime_error

if seconds are negative

Time() [2/5]

rclcpp::Time::Time ( int64_t  nanoseconds = 0, rcl_clock_type_t  clock_type = RCL_SYSTEM_TIME  )

explicit

Time constructor.

Parameters

nanoseconds	since time epoch
clock_type	clock type

Time() [3/5]

rclcpp::Time::Time

(

const Time &

rhs

)

Copy constructor.

Time() [4/5]

rclcpp::Time::Time	(	const builtin_interfaces::msg::Time &	time_msg,
		rcl_clock_type_t	clock_type = RCL_ROS_TIME
	)

Time constructor.

Parameters

time_msg	builtin_interfaces time message to copy
clock_type	clock type

Exceptions

std::runtime_error

if seconds are negative

Time() [5/5]

rclcpp::Time::Time ( const rcl_time_point_t &  time_point )

explicit

Time constructor.

Parameters

time_point

rcl_time_point_t structure to copy

~Time()

virtual rclcpp::Time::~Time ( )

virtual

Time destructor.

Member Function Documentation

operator builtin_interfaces::msg::Time()

rclcpp::Time::operator builtin_interfaces::msg::Time

(

)

const

Return a builtin_interfaces::msg::Time object based.

operator=() [1/2]

Time& rclcpp::Time::operator=

(

const Time &

rhs

)

Exceptions

std::runtime_error

if seconds are negative

operator=() [2/2]

Time& rclcpp::Time::operator=

(

const builtin_interfaces::msg::Time &

time_msg

)

Assign Time from a builtin_interfaces::msg::Time instance. The clock_type will be reset to RCL_ROS_TIME. Equivalent to *this = Time(time_msg, RCL_ROS_TIME).

Exceptions

std::runtime_error

if seconds are negative

operator==()

bool rclcpp::Time::operator==

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error

if the time sources are different

operator!=()

bool rclcpp::Time::operator!=

(

const rclcpp::Time &

rhs

)

const

operator<()

bool rclcpp::Time::operator<

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error

if the time sources are different

operator<=()

bool rclcpp::Time::operator<=

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error

if the time sources are different

operator>=()

bool rclcpp::Time::operator>=

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error

if the time sources are different

operator>()

bool rclcpp::Time::operator>

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error

if the time sources are different

operator+()

Time rclcpp::Time::operator+

(

const rclcpp::Duration &

rhs

)

const

Exceptions

std::overflow_error

if addition leads to overflow

operator-() [1/2]

Duration rclcpp::Time::operator-

(

const rclcpp::Time &

rhs

)

const

Exceptions

std::runtime_error	if the time sources are different
std::overflow_error	if addition leads to overflow

operator-() [2/2]

Time rclcpp::Time::operator-

(

const rclcpp::Duration &

rhs

)

const

Exceptions

std::overflow_error

if addition leads to overflow

operator+=()

Time& rclcpp::Time::operator+=

(

const rclcpp::Duration &

rhs

)

Exceptions

std::overflow_error

if addition leads to overflow

operator-=()

Time& rclcpp::Time::operator-=

(

const rclcpp::Duration &

rhs

)

Exceptions

std::overflow_error

if addition leads to overflow

nanoseconds()

rcl_time_point_value_t rclcpp::Time::nanoseconds

(

)

const

Get the nanoseconds since epoch.

Returns

the nanoseconds since epoch as a rcl_time_point_value_t structure.

max()

static Time rclcpp::Time::max ( )

static

Get the maximum representable value.

Returns

the maximum representable value

seconds()

double rclcpp::Time::seconds

(

)

const

Get the seconds since epoch.

Warning

Depending on sizeof(double) there could be significant precision loss. When an exact time is required use nanoseconds() instead.

Returns

the seconds since epoch as a floating point number.

get_clock_type()

rcl_clock_type_t rclcpp::Time::get_clock_type

(

)

const

Get the clock type.

Returns

the clock type

---

The documentation for this class was generated from the following file:

• include/rclcpp/time.hpp