pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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timer2.hpp
1//
2// Copyright (c) 2021 LAAS-CNRS
3//
4
5#ifndef __pinocchio_utils_timer2_hpp__
6#define __pinocchio_utils_timer2_hpp__
7
8#include <ctime>
9
10namespace pinocchio
11{
12
13 class Timer
14 {
15 public:
16 Timer()
17 {
19 }
20
21 inline void reset()
22 {
24 }
25
26 inline double get_duration()
27 {
29 duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000;
30 duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000;
31 return duration_ / 1000.;
32 }
33
34 inline double get_us_duration()
35 {
37 duration_ = static_cast<double>(finish_.tv_sec - start_.tv_sec) * 1000000;
38 duration_ += static_cast<double>(finish_.tv_nsec - start_.tv_nsec) / 1000;
39 return duration_;
40 }
41
42 private:
43 struct timespec start_;
44 struct timespec finish_;
45 double duration_;
46 };
47} // namespace pinocchio
48
49#endif
Main pinocchio namespace.
Definition treeview.dox:11