/usr/include/ros/duration.h is in libroscpp-core-dev 0.6.1-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 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 ROS_DURATION_H
#define ROS_DURATION_H
/*********************************************************************
** Pragmas
*********************************************************************/
#ifdef _MSC_VER
// Rostime has some magic interface that doesn't directly include
// its implementation, this just disbales those warnings.
#pragma warning(disable: 4244)
#pragma warning(disable: 4661)
#endif
#include <iostream>
#include <math.h>
#include <stdexcept>
#include <climits>
#include <stdint.h>
#include "rostime_decl.h"
namespace boost {
namespace posix_time {
class time_duration;
}
}
namespace ros
{
ROSTIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
ROSTIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
/**
* \brief Base class for Duration implementations. Provides storage, common functions and operator overloads.
* This should not need to be used directly.
*/
template <class T>
class DurationBase
{
public:
int32_t sec, nsec;
DurationBase() : sec(0), nsec(0) { }
DurationBase(int32_t _sec, int32_t _nsec);
explicit DurationBase(double t){fromSec(t);};
~DurationBase() {}
T operator+(const T &rhs) const;
T operator-(const T &rhs) const;
T operator-() const;
T operator*(double scale) const;
T& operator+=(const T &rhs);
T& operator-=(const T &rhs);
T& operator*=(double scale);
bool operator==(const T &rhs) const;
inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
bool operator>(const T &rhs) const;
bool operator<(const T &rhs) const;
bool operator>=(const T &rhs) const;
bool operator<=(const T &rhs) const;
double toSec() const { return (double)sec + 1e-9*(double)nsec; };
int64_t toNSec() const {return (int64_t)sec*1000000000ll + (int64_t)nsec; };
T& fromSec(double t);
T& fromNSec(int64_t t);
bool isZero() const;
boost::posix_time::time_duration toBoost() const;
};
class Rate;
/**
* \brief Duration representation for use with the Time class.
*
* ros::DurationBase provides most of its functionality.
*/
class ROSTIME_DECL Duration : public DurationBase<Duration>
{
public:
Duration()
: DurationBase<Duration>()
{ }
Duration(int32_t _sec, int32_t _nsec)
: DurationBase<Duration>(_sec, _nsec)
{}
explicit Duration(double t) { fromSec(t); }
explicit Duration(const Rate&);
/**
* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
* @return True if the desired sleep duration was met, false otherwise.
*/
bool sleep() const;
};
extern ROSTIME_DECL const Duration DURATION_MAX;
extern ROSTIME_DECL const Duration DURATION_MIN;
/**
* \brief Duration representation for use with the WallTime class.
*
* ros::DurationBase provides most of its functionality.
*/
class ROSTIME_DECL WallDuration : public DurationBase<WallDuration>
{
public:
WallDuration()
: DurationBase<WallDuration>()
{ }
WallDuration(int32_t _sec, int32_t _nsec)
: DurationBase<WallDuration>(_sec, _nsec)
{}
explicit WallDuration(double t) { fromSec(t); }
explicit WallDuration(const Rate&);
/**
* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
* @return True if the desired sleep duration was met, false otherwise.
*/
bool sleep() const;
};
std::ostream &operator <<(std::ostream &os, const Duration &rhs);
std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);
}
#endif // ROS_DURATION_H
|