hlrc

/*

* This file is part of hlrc

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#pragma once

#include <time.h>

#include <stdint.h>

class RobotTimestamp {

public:

    RobotTimestamp(){

        RobotTimestamp n = now();

        sec = n.sec;

        nsec = n.nsec;

    }

    RobotTimestamp(int32_t _sec, int32_t _nsec) {

        sec = _sec;

        nsec = _nsec;

    }

    static RobotTimestamp now(){

        // fetch time

        struct timespec tp;

        clock_gettime(CLOCK_REALTIME, &tp);

        RobotTimestamp res(tp.tv_sec, tp.tv_nsec);

        return res;

    };

    int32_t sec;

    int32_t nsec;

};