rclcpp::Duration Class Reference

Public Member Functions
	Duration (int32_t seconds, uint32_t nanoseconds)
	Duration constructor. More...
	Duration (std::chrono::nanoseconds nanoseconds)
	Construct duration from the specified std::chrono::nanoseconds.
template<class Rep , class Period >
	Duration (const std::chrono::duration< Rep, Period > &duration)
	Duration (const builtin_interfaces::msg::Duration &duration_msg)
	Duration (const rcl_duration_t &duration)
	Time constructor. More...
	Duration (const Duration &rhs)
	operator builtin_interfaces::msg::Duration () const
Duration &	operator= (const Duration &rhs)
Duration &	operator= (const builtin_interfaces::msg::Duration &duration_msg)
bool	operator== (const rclcpp::Duration &rhs) const
bool	operator!= (const rclcpp::Duration &rhs) const
bool	operator< (const rclcpp::Duration &rhs) const
bool	operator<= (const rclcpp::Duration &rhs) const
bool	operator>= (const rclcpp::Duration &rhs) const
bool	operator> (const rclcpp::Duration &rhs) const
Duration	operator+ (const rclcpp::Duration &rhs) const
Duration &	operator+= (const rclcpp::Duration &rhs)
Duration	operator- (const rclcpp::Duration &rhs) const
Duration &	operator-= (const rclcpp::Duration &rhs)
Duration	operator* (double scale) const
Duration &	operator*= (double scale)
rcl_duration_value_t	nanoseconds () const
	Get duration in nanosecods. More...
double	seconds () const
	Get duration in seconds. More...
template<class DurationT >
DurationT	to_chrono () const
	Convert Duration into a std::chrono::Duration.
rmw_time_t	to_rmw_time () const
	Convert Duration into rmw_time_t.

Static Public Member Functions
static Duration	max ()
	Get the maximum representable value. More...
static Duration	from_seconds (double seconds)
	Create a duration object from a floating point number representing seconds.
static Duration	from_nanoseconds (rcl_duration_value_t nanoseconds)
	Create a duration object from an integer number representing nanoseconds.
static Duration	from_rmw_time (rmw_time_t duration)

Detailed Description

Definition at line 27 of file duration.hpp.

Constructor & Destructor Documentation

Duration() [1/2]

rclcpp::Duration::Duration	(	int32_t	seconds,
		uint32_t	nanoseconds
	)

Duration constructor.

Initializes the time values for seconds and nanoseconds individually. Large values for nsecs are wrapped automatically with the remainder added to secs. Both inputs must be integers. Seconds can be negative.

Parameters

seconds	time in seconds
nanoseconds	time in nanoseconds

Definition at line 36 of file duration.cpp.

References rcl_duration_s::nanoseconds, nanoseconds(), RCL_S_TO_NS, and seconds().

Here is the call graph for this function:

Duration() [2/2]

rclcpp::Duration::Duration ( const rcl_duration_t &  duration )

explicit

Time constructor.

Parameters

duration

rcl_duration_t structure to copy.

Definition at line 57 of file duration.cpp.

Member Function Documentation

max()

Duration rclcpp::Duration::max ( )

static

Get the maximum representable value.

Returns

the maximum representable value

Definition at line 255 of file duration.cpp.

nanoseconds()

rcl_duration_value_t rclcpp::Duration::nanoseconds

(

)

const

Get duration in nanosecods.

Returns

the duration in nanoseconds as a rcl_duration_value_t.

Definition at line 249 of file duration.cpp.

References rcl_duration_s::nanoseconds.

Referenced by Duration(), from_nanoseconds(), rclcpp::operator+(), rclcpp::Time::operator+(), rclcpp::Time::operator+=(), rclcpp::Time::operator-(), rclcpp::Time::operator-=(), and rclcpp::Clock::sleep_until().

Here is the caller graph for this function:

seconds()

double rclcpp::Duration::seconds

(

)

const

Get duration in seconds.

Warning

Depending on sizeof(double) there could be significant precision loss. When an exact time is required use nanoseconds() instead.

Returns

the duration in seconds as a floating point number.

Definition at line 261 of file duration.cpp.

References rcl_duration_s::nanoseconds.

Referenced by Duration(), and from_seconds().

Here is the caller graph for this function:

---

The documentation for this class was generated from the following files:

• rclcpp/include/rclcpp/duration.hpp
• rclcpp/src/rclcpp/duration.cpp