Public Member Functions
RCLCPP_PUBLIC	Time (int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Time constructor. More...

RCLCPP_PUBLIC	Time (int64_t nanoseconds=0, rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Time constructor. More...

RCLCPP_PUBLIC	Time (const Time &rhs)
	Copy constructor.

RCLCPP_PUBLIC	Time (Time &&rhs) noexcept
	Move constructor.

RCLCPP_PUBLIC	Time (const builtin_interfaces::msg::Time &time_msg, rcl_clock_type_t clock_type=RCL_ROS_TIME)
	Time constructor. More...

RCLCPP_PUBLIC	Time (const rcl_time_point_t &time_point)
	Time constructor. More...

virtual RCLCPP_PUBLIC	~Time ()
	Time destructor.

RCLCPP_PUBLIC	operator builtin_interfaces::msg::Time () const
	Return a builtin_interfaces::msg::Time object based.

RCLCPP_PUBLIC Time &	operator= (const Time &rhs)

RCLCPP_PUBLIC Time &	operator= (const builtin_interfaces::msg::Time &time_msg)

RCLCPP_PUBLIC Time &	operator= (Time &&rhs) noexcept

RCLCPP_PUBLIC bool	operator== (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC bool	operator!= (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC bool	operator< (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC bool	operator<= (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC bool	operator>= (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC bool	operator> (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC Time	operator+ (const rclcpp::Duration &rhs) const

RCLCPP_PUBLIC Duration	operator- (const rclcpp::Time &rhs) const

RCLCPP_PUBLIC Time	operator- (const rclcpp::Duration &rhs) const

RCLCPP_PUBLIC Time &	operator+= (const rclcpp::Duration &rhs)

RCLCPP_PUBLIC Time &	operator-= (const rclcpp::Duration &rhs)

RCLCPP_PUBLIC rcl_time_point_value_t	nanoseconds () const
	Get the nanoseconds since epoch. More...

RCLCPP_PUBLIC double	seconds () const
	Get the seconds since epoch. More...

RCLCPP_PUBLIC rcl_clock_type_t	get_clock_type () const
	Get the clock type. More...

Static Public Member Functions
static RCLCPP_PUBLIC Time	max (rcl_clock_type_t clock_type=RCL_SYSTEM_TIME)
	Get the maximum representable value. More...

Detailed Description

Definition at line 31 of file time.hpp.

Constructor & Destructor Documentation

◆ Time() [1/4]

rclcpp::Time::Time	(	int32_t	seconds,
		uint32_t	nanoseconds,
		rcl_clock_type_t	clock_type = `RCL_SYSTEM_TIME`
	)

Time constructor.

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

Parameters

seconds	part of the time in seconds since time epoch
nanoseconds	part of the time in nanoseconds since time epoch
clock_type	clock type

Exceptions

std::runtime_error if seconds are negative

Definition at line 49 of file time.cpp.

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

Referenced by max(), operator+(), operator-(), and operator=().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ Time() [2/4]

rclcpp::Time::Time	(	int64_t	nanoseconds = `0`,
		rcl_clock_type_t	clock_type = `RCL_SYSTEM_TIME`
	)

explicit

Time constructor.

Parameters

nanoseconds	since time epoch
clock_type	clock type

Exceptions

std::runtime_error if nanoseconds are negative

Definition at line 60 of file time.cpp.

References rcl_time_point_s::nanoseconds, and nanoseconds().

Here is the call graph for this function:

◆ Time() [3/4]

rclcpp::Time::Time	(	const builtin_interfaces::msg::Time &	time_msg,
		rcl_clock_type_t	clock_type = `RCL_ROS_TIME`
	)

Time constructor.

Parameters

time_msg	builtin_interfaces time message to copy
clock_type	clock type

Exceptions

std::runtime_error if seconds are negative

Definition at line 74 of file time.cpp.

References rcl_time_point_s::nanoseconds, and RCL_S_TO_NS.

◆ Time() [4/4]

rclcpp::Time::Time ( const rcl_time_point_t & time_point )

explicit

Time constructor.

Parameters

time_point rcl_time_point_t structure to copy

Definition at line 87 of file time.cpp.

Member Function Documentation

◆ get_clock_type()

rcl_clock_type_t rclcpp::Time::get_clock_type ( ) const

Get the clock type.

Returns: the clock type

Definition at line 228 of file time.cpp.

References rcl_time_point_s::clock_type.

Referenced by rclcpp::operator+(), and rclcpp::Clock::sleep_until().

Here is the caller graph for this function:

◆ max()

Time rclcpp::Time::max ( rcl_clock_type_t clock_type = RCL_SYSTEM_TIME )

static

Get the maximum representable value.

Returns: the maximum representable value

Definition at line 282 of file time.cpp.

References Time().

Here is the call graph for this function:

◆ nanoseconds()

int64_t rclcpp::Time::nanoseconds ( ) const

Get the nanoseconds since epoch.

Returns: the nanoseconds since epoch as a rcl_time_point_value_t structure.

Definition at line 216 of file time.cpp.

References rcl_time_point_s::nanoseconds.

Referenced by rclcpp::topic_statistics::SubscriptionTopicStatistics::handle_message(), rclcpp::operator+(), operator+(), rclcpp::Clock::sleep_until(), and Time().

Here is the caller graph for this function:

◆ operator+()

Time rclcpp::Time::operator+ ( const rclcpp::Duration & rhs ) const

Exceptions

std::overflow_error if addition leads to overflow

Definition at line 170 of file time.cpp.

References rclcpp::add_will_overflow(), rclcpp::add_will_underflow(), rclcpp::Duration::nanoseconds(), nanoseconds(), and Time().

Here is the call graph for this function:

◆ operator+=()

Time & rclcpp::Time::operator+= ( const rclcpp::Duration & rhs )

Exceptions

std::overflow_error if addition leads to overflow

Definition at line 246 of file time.cpp.

References rclcpp::add_will_overflow(), rclcpp::add_will_underflow(), rcl_time_point_s::nanoseconds, and rclcpp::Duration::nanoseconds().

Here is the call graph for this function:

◆ operator-() [1/2]

Time rclcpp::Time::operator- ( const rclcpp::Duration & rhs ) const

Exceptions

std::overflow_error if addition leads to overflow

Definition at line 203 of file time.cpp.

References rcl_time_point_s::clock_type, rcl_time_point_s::nanoseconds, rclcpp::Duration::nanoseconds(), rclcpp::sub_will_overflow(), rclcpp::sub_will_underflow(), and Time().

Here is the call graph for this function:

◆ operator-() [2/2]

Duration rclcpp::Time::operator- ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error	if the time sources are different
std::overflow_error	if addition leads to overflow

Definition at line 182 of file time.cpp.

References rcl_time_point_s::clock_type, rclcpp::Duration::from_nanoseconds(), rcl_time_point_s::nanoseconds, rclcpp::sub_will_overflow(), and rclcpp::sub_will_underflow().

Here is the call graph for this function:

◆ operator-=()

Time & rclcpp::Time::operator-= ( const rclcpp::Duration & rhs )

Exceptions

std::overflow_error if addition leads to overflow

Definition at line 264 of file time.cpp.

References rcl_time_point_s::nanoseconds, rclcpp::Duration::nanoseconds(), rclcpp::sub_will_overflow(), and rclcpp::sub_will_underflow().

Here is the call graph for this function:

◆ operator<()

bool rclcpp::Time::operator< ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error if the time sources are different

Definition at line 129 of file time.cpp.

References rcl_time_point_s::clock_type, and rcl_time_point_s::nanoseconds.

◆ operator<=()

bool rclcpp::Time::operator<= ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error if the time sources are different

Definition at line 139 of file time.cpp.

References rcl_time_point_s::clock_type, and rcl_time_point_s::nanoseconds.

◆ operator=() [1/3]

Time & rclcpp::Time::operator= ( const builtin_interfaces::msg::Time & time_msg )

Assign Time from a builtin_interfaces::msg::Time instance. The clock_type will be reset to RCL_ROS_TIME. Equivalent to *this = Time(time_msg, RCL_ROS_TIME).

Exceptions

std::runtime_error if seconds are negative

Definition at line 104 of file time.cpp.

References Time().

Here is the call graph for this function:

◆ operator=() [2/3]

Time & rclcpp::Time::operator= ( const Time & rhs )

default

Copy assignment operator

Exceptions

std::runtime_error if seconds are negative

◆ operator=() [3/3]

Time & rclcpp::Time::operator= ( Time && rhs )

defaultnoexcept

Move assignment operator

◆ operator==()

bool rclcpp::Time::operator== ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error if the time sources are different

Definition at line 114 of file time.cpp.

References rcl_time_point_s::clock_type, and rcl_time_point_s::nanoseconds.

◆ operator>()

bool rclcpp::Time::operator> ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error if the time sources are different

Definition at line 160 of file time.cpp.

References rcl_time_point_s::clock_type, and rcl_time_point_s::nanoseconds.

◆ operator>=()

bool rclcpp::Time::operator>= ( const rclcpp::Time & rhs ) const

Exceptions

std::runtime_error if the time sources are different

Definition at line 150 of file time.cpp.

References rcl_time_point_s::clock_type, and rcl_time_point_s::nanoseconds.

◆ seconds()

double rclcpp::Time::seconds ( ) const

Get the seconds since epoch.

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

Returns: the seconds since epoch as a floating point number.

Definition at line 222 of file time.cpp.

References rcl_time_point_s::nanoseconds.

Referenced by Time().

Here is the caller graph for this function:

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

rclcpp/include/rclcpp/time.hpp
rclcpp/src/rclcpp/time.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Time() [1/4]

◆ Time() [2/4]

◆ Time() [3/4]

◆ Time() [4/4]

Member Function Documentation

◆ get_clock_type()

◆ max()

◆ nanoseconds()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator<()

◆ operator<=()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator==()

◆ operator>()

◆ operator>=()

◆ seconds()