void save_td(Archive& ar, const posix_time::time_duration& td)
{
TimeResTraitsSize h = boost::numeric_cast<TimeResTraitsSize>(td.hours());
TimeResTraitsSize m = boost::numeric_cast<TimeResTraitsSize>(td.minutes());
TimeResTraitsSize s = boost::numeric_cast<TimeResTraitsSize>(td.seconds());
posix_time::time_duration::fractional_seconds_type fs = td.fractional_seconds();
ar & make_nvp("time_duration_hours", h);
ar & make_nvp("time_duration_minutes", m);
ar & make_nvp("time_duration_seconds", s);
ar & make_nvp("time_duration_fractional_seconds", fs);
}
void save(Archive & ar,
const posix_time::time_duration& td,
unsigned int version)
{
typename posix_time::time_duration::hour_type h = td.hours();
typename posix_time::time_duration::min_type m = td.minutes();
typename posix_time::time_duration::sec_type s = td.seconds();
typename posix_time::time_duration::fractional_seconds_type fs = td.fractional_seconds();
ar & make_nvp("time_duration_hours", h);
ar & make_nvp("time_duration_minutes", m);
ar & make_nvp("time_duration_seconds", s);
ar & make_nvp("time_duration_fractional_seconds", fs);
}
posix_time::time_duration mul(
const posix_time::time_duration &time,
double rhs)
{
return posix_time::time_duration(0, 0, 0,
posix_time::time_duration::fractional_seconds_type(
(double)time.ticks() * rhs + 0.5));
}
posix_time::time_duration div(
const posix_time::time_duration &time,
double divisor)
{
return posix_time::time_duration(0, 0, 0,
posix_time::time_duration::fractional_seconds_type(
(double)time.ticks() / divisor + 0.5));
}
void save(Archive & ar,
const posix_time::time_duration& td,
unsigned int /*version*/)
{
// serialize a bool so we know how to read this back in later
bool is_special = td.is_special();
ar & make_nvp("is_special", is_special);
if(is_special) {
std::string s = to_simple_string(td);
ar & make_nvp("sv_time_duration", s);
}
else {
typename posix_time::time_duration::hour_type h = td.hours();
typename posix_time::time_duration::min_type m = td.minutes();
typename posix_time::time_duration::sec_type s = td.seconds();
typename posix_time::time_duration::fractional_seconds_type fs = td.fractional_seconds();
ar & make_nvp("time_duration_hours", h);
ar & make_nvp("time_duration_minutes", m);
ar & make_nvp("time_duration_seconds", s);
ar & make_nvp("time_duration_fractional_seconds", fs);
}
}
static int getMicroseconds( const posix_time::time_duration &dur )
{
static long ticksPerSecond = posix_time::time_duration::ticks_per_second();
long fractionalSeconds = dur.fractional_seconds();
static const int oneMillion = 1000000;
/// Prevent over/underflow
if ( ticksPerSecond > oneMillion )
{
return fractionalSeconds / ( ticksPerSecond / oneMillion );
}
else
{
return fractionalSeconds * ( oneMillion / ticksPerSecond );
}
}
void save(Archive & ar,
const posix_time::time_duration& td,
unsigned int version)
{
// serialize a bool so we know how to read this back in later
bool is_special = td.is_special();
ar & make_nvp("is_special", is_special);
if(is_special) {
std::string s = to_simple_string(td);
ar & make_nvp("sv_time_duration", s);
}
else {
// Write support for earlier versions allows for upgrade compatibility testing
// See load comments for version information
if (version == 0) {
save_td<int32_t>(ar, td);
} else {
save_td<int64_t>(ar, td);
}
}
}
/*!
* Creates a rotation time interval of the specified duration
*
* \param interval The interval of the rotation, should be no less than 1 second
*/
explicit rotation_at_time_interval(posix_time::time_duration const& interval) :
m_Interval(interval)
{
BOOST_ASSERT(!interval.is_special());
BOOST_ASSERT(interval.total_seconds() > 0);
}
double div(
const posix_time::time_duration &time1,
const posix_time::time_duration &time2)
{
return (double)time1.ticks() / (double)time2.ticks();
}
TransformerTF2::TransformerTF2(const posix_time::time_duration& cacheTime) :
tfBuffer(ros::Duration().fromNSec(cacheTime.total_nanoseconds())) {
tfBuffer._addTransformsChangedListener(bind(&TransformerTF2::tfChanged, this));
}