tf2  master
tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
time.h
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29 
30  #ifndef TF2_TIME_H
31  #define TF2_TIME_H
32 
33 #include <chrono>
34 #include <cmath>
35 #include <stdio.h>
36 #include <string>
37 #include <thread>
38 #include <iostream>
39 
40 #include <tf2/visibility_control.h>
41 
42 namespace tf2
43 {
46 
47 
49  // This is the zero time in ROS
50  static const TimePoint TimePointZero = TimePoint(IDuration::zero());
51 
52  inline TimePoint get_now()
53  {
55  }
56 
57  inline Duration durationFromSec(double t_sec)
58  {
59  int32_t sec, nsec;
60  sec = static_cast<int32_t>(floor(t_sec));
61  nsec = static_cast<int32_t>(std::round((t_sec - sec) * 1e9));
62  // avoid rounding errors
63  sec += (nsec / 1000000000l);
64  nsec %= 1000000000l;
66  }
67 
68  inline TimePoint timeFromSec(double t_sec)
69  {
70  return tf2::TimePoint(durationFromSec(t_sec));
71  }
72 
73  inline double durationToSec(const tf2::Duration& input){
74  int64_t count = input.count();
75 
76  // scale the nanoseconds separately for improved accuracy
77  int32_t sec, nsec;
78  nsec = static_cast<int32_t>(count % 1000000000l);
79  sec = static_cast<int32_t>((count - nsec) / 1000000000l);
80 
81  double sec_double, nsec_double;
82  nsec_double = 1e-9 * static_cast<double>(nsec);
83  sec_double = static_cast<double>(sec);
84  return sec_double + nsec_double;
85  }
86 
87  inline double timeToSec(const TimePoint& timepoint)
88  {
89  return durationToSec(Duration(timepoint.time_since_epoch()));
90  }
91 
94 
95 }
96 
97 #endif // TF2_TIME_H
tf2::timeFromSec
TimePoint timeFromSec(double t_sec)
Definition: time.h:68
std::string
tf2::get_now
TimePoint get_now()
Definition: time.h:52
tf2::Duration
std::chrono::nanoseconds Duration
Definition: time.h:44
tf2::displayTimePoint
std::string displayTimePoint(const TimePoint &stamp)
std::chrono::nanoseconds
tf2::durationFromSec
Duration durationFromSec(double t_sec)
Definition: time.h:57
std::chrono::duration::zero
T zero(T... args)
tf2::durationToSec
double durationToSec(const tf2::Duration &input)
Definition: time.h:73
std::chrono::time_point::time_since_epoch
T time_since_epoch(T... args)
tf2::timeToSec
double timeToSec(const TimePoint &timepoint)
Definition: time.h:87
tf2::TimePoint
std::chrono::time_point< std::chrono::system_clock, Duration > TimePoint
Definition: time.h:45
std::chrono::time_point< std::chrono::system_clock, Duration >
visibility_control.h
std::round
T round(T... args)
tf2
Definition: buffer_core.h:55
std::chrono::nanoseconds::count
T count(T... args)
TF2_PUBLIC
#define TF2_PUBLIC
Definition: visibility_control.h:58
std::chrono::system_clock::now
T now(T... args)