| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2020, University of Edinburgh, LAAS-CNRS | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_UTILS_TIMER_H_ | ||
| 10 | #define CROCODDYL_CORE_UTILS_TIMER_H_ | ||
| 11 | |||
| 12 | #include <ctime> | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | class Timer { | ||
| 17 | public: | ||
| 18 | ✗ | Timer() { clock_gettime(CLOCK_MONOTONIC, &start_); } | |
| 19 | |||
| 20 | ✗ | inline void reset() { clock_gettime(CLOCK_MONOTONIC, &start_); } | |
| 21 | |||
| 22 | ✗ | inline double get_duration() { | |
| 23 | ✗ | clock_gettime(CLOCK_MONOTONIC, &finish_); | |
| 24 | ✗ | duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000; | |
| 25 | ✗ | duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000; | |
| 26 | ✗ | return duration_ / 1000.; | |
| 27 | } | ||
| 28 | |||
| 29 | ✗ | inline double get_us_duration() { | |
| 30 | ✗ | clock_gettime(CLOCK_MONOTONIC, &finish_); | |
| 31 | ✗ | duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000; | |
| 32 | ✗ | duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000; | |
| 33 | ✗ | return duration_; | |
| 34 | } | ||
| 35 | |||
| 36 | private: | ||
| 37 | struct timespec start_; | ||
| 38 | struct timespec finish_; | ||
| 39 | double duration_; | ||
| 40 | }; | ||
| 41 | } // namespace crocoddyl | ||
| 42 | |||
| 43 | #endif // CROCODDYL_CORE_UTILS_TIMER_H_ | ||
| 44 |