Class: ROS::TimeValue

Inherits:

Object

• Object
• ROS::TimeValue

show all

Includes:

Comparable

Defined in:

lib/ros/time.rb

Overview

Instance Attribute Summary (collapse)

• - (Integer) nsecs

  Nano seconds.

• - (Integer) secs

  Seconds.

Instance Method Summary (collapse)

• - (Integer) <=>(other)

  compare time value.

• - (TimeValue) canonicalize

  canonicalize secs and nsecs.

• - (Float) to_nsec

  convert to nano seconds.

• - (Float) to_sec

  convert to seconds.

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# File 'lib/ros/time.rb', line 24

def nsecs
  @nsecs
end

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# File 'lib/ros/time.rb', line 21

def secs
  @secs
end

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# File 'lib/ros/time.rb', line 55

def <=>(other)
  diff = self.to_nsec - other.to_nsec
  if diff > 0
    1
  elsif diff < 0
    -1
  else
    0
  end
end

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# File 'lib/ros/time.rb', line 28

def canonicalize
  while @nsecs >= 1e9.to_i
    @secs += 1
    @nsecs -= 1e9.to_i
  end
  while @nsecs < 0
    @secs -= 1
    @nsecs += 1e9.to_i
  end
  self
end

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# File 'lib/ros/time.rb', line 48

def to_nsec
  @nsecs + (@secs * 1e9)
end

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# File 'lib/ros/time.rb', line 42

def to_sec
  @secs + (@nsecs / 1e9)
end