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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2020, University of Edinburgh, LAAS-CNRS |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_UTILS_TIMER_H_ |
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#define CROCODDYL_CORE_UTILS_TIMER_H_ |
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#include <ctime> |
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namespace crocoddyl { |
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class Timer { |
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public: |
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Timer() { clock_gettime(CLOCK_MONOTONIC, &start_); } |
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inline void reset() { clock_gettime(CLOCK_MONOTONIC, &start_); } |
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inline double get_duration() { |
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clock_gettime(CLOCK_MONOTONIC, &finish_); |
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duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000; |
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duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000; |
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return duration_ / 1000.; |
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} |
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inline double get_us_duration() { |
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clock_gettime(CLOCK_MONOTONIC, &finish_); |
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duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000; |
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duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000; |
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return duration_; |
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} |
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private: |
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struct timespec start_; |
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struct timespec finish_; |
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double duration_; |
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}; |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CORE_UTILS_TIMER_H_ |