/usr/include/ros/duration.h is in libroscpp-core-dev 0.5.6-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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#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.
*/
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.
*/
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
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