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);

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

        };

        int32_t sec;

        int32_t nsec;

};