| 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 |
|
|
|