mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
110 lines
3.3 KiB
C++
110 lines
3.3 KiB
C++
/*
|
|
* utilite is a cross-platform library with
|
|
* useful utilities for fast and small developing.
|
|
* Copyright (C) 2010 Mathieu Labbe
|
|
*
|
|
* utilite is free library: you can redistribute it and/or modify
|
|
* it under the terms of the GNU Lesser General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* utilite is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU Lesser General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU Lesser General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef UTIMER_H
|
|
#define UTIMER_H
|
|
|
|
#include "rtabmap/utilite/UtiLiteExp.h" // DLL export/import defines
|
|
|
|
#ifdef _WIN32
|
|
#include <windows.h>
|
|
#else
|
|
#include <sys/time.h>
|
|
#include <time.h>
|
|
#endif
|
|
|
|
/**
|
|
* This class is used to time some codes (in seconds).
|
|
* On Unix, the resolution is up to microseconds (see gettimeofday()).
|
|
* On Windows, the performance counter is used (see QueryPerformanceCounter() and QueryPerformanceFrequency()).
|
|
* Example:
|
|
* @code
|
|
* UTimer timer;
|
|
* timer.start();
|
|
* ... (do some work)
|
|
* timer.stop();
|
|
* double seconds = timer.getInterval();
|
|
* ...
|
|
* @endcode
|
|
*/
|
|
class UTILITE_EXP UTimer
|
|
{
|
|
public:
|
|
UTimer();
|
|
~UTimer();
|
|
|
|
/**
|
|
* This method is used to get
|
|
* the time of the system right now.
|
|
* @return double the time in seconds.
|
|
*/
|
|
static double now();
|
|
|
|
/**
|
|
* This method starts the timer.
|
|
*/
|
|
void start();
|
|
|
|
/**
|
|
* This method stops the timer.
|
|
*/
|
|
void stop();
|
|
|
|
/**
|
|
* This method is used to get the elapsed time
|
|
* between now and the start(). If timer is stopped, the interval time
|
|
* between stop() and the start() is returned.
|
|
* @return double the interval in seconds.
|
|
*/
|
|
double elapsed() {return getElapsedTime();}
|
|
double getElapsedTime();
|
|
|
|
/**
|
|
* This method is used to get the interval time
|
|
* between stop() and the start().
|
|
* @return double the interval in seconds.
|
|
* @deprecated use elapsed() instead.
|
|
*/
|
|
UTILITE_DEPRECATED(double getInterval());
|
|
|
|
/**
|
|
* This method is used to get the interval of
|
|
* the timer while it is running. It's automatically
|
|
* stop the timer, get the interval and restart
|
|
* the timer. It's the same of calling stop(),
|
|
* elapsed() and start(). Method restart() does the same thing, for convenience.
|
|
* @return double the interval in seconds.
|
|
*/
|
|
double restart() {return ticks();}
|
|
double ticks();
|
|
|
|
private:
|
|
#ifdef _WIN32
|
|
LARGE_INTEGER startTimeRecorded_; /* When we start the timer, timeRecorded is copied over lastTimeRecorded.*/
|
|
LARGE_INTEGER stopTimeRecorded_; /* When we stop the timer. */
|
|
|
|
LARGE_INTEGER frequency_; /* Keep the frequency of the counter */
|
|
#else
|
|
struct timeval startTimeRecorded_; /* When we start the timer, timeRecorded is copied over lastTimeRecorded.*/
|
|
struct timeval stopTimeRecorded_; /* When we stop the timer. */
|
|
#endif
|
|
};
|
|
|
|
#endif //UTIMER_H
|