/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * 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.
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 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef _ROS_DURATION_H_
#define _ROS_DURATION_H_

#include <math.h>
#include <stdint.h>

namespace ros
{

void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);

class Duration
{
public:
  int32_t sec, nsec;

  Duration() : sec(0), nsec(0) {}
  Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
  {
    normalizeSecNSecSigned(sec, nsec);
  }

  double toSec() const
  {
    return (double)sec + 1e-9 * (double)nsec;
  };
  void fromSec(double t)
  {
    sec = (uint32_t) floor(t);
    nsec = (uint32_t) round((t - sec) * 1e9);
  };

  Duration& operator+=(const Duration &rhs);
  Duration& operator-=(const Duration &rhs);
  Duration& operator*=(double scale);
};

}

#endif

