execution_timer.hpp

// Copyright (c) 2018 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_UTIL__EXECUTION_TIMER_HPP_
#define NAV2_UTIL__EXECUTION_TIMER_HPP_
 
#include <chrono>
 
namespace nav2_util
{
 
class ExecutionTimer
{
public:
  using Clock = std::chrono::high_resolution_clock;
  using nanoseconds = std::chrono::nanoseconds;
 
  void start() {start_ = Clock::now();}
 
  void end() {end_ = Clock::now();}
 
  nanoseconds elapsed_time() {return end_ - start_;}
 
  double elapsed_time_in_seconds()
  {
    return std::chrono::duration<double>(end_ - start_).count();
  }
 
protected:
  Clock::time_point start_;
  Clock::time_point end_;
};
 
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__EXECUTION_TIMER_HPP_