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 * Software License Agreement (BSD License)
 *
 *  Modified and adapted by
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  Original Copyright (c) 2010, Willow Garage, Inc.
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 *
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
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/*
 *  Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *  Modified: Andreas Forster (an.forster@gmail.com)
 */

/**
 * @file implementation/Duration.hpp
 * @brief Header implementation file for the DurationBase class.
 * @author Willow Garage Inc.
 * @author Stefan Leutenegger
 * @author Andreas Forster
 */

#ifndef INCLUDE_OKVIS_IMPLEMENTATION_DURATION_HPP_
#define INCLUDE_OKVIS_IMPLEMENTATION_DURATION_HPP_

#include <okvis/Duration.hpp>
//#include <ros/rate.h>

/// \brief okvis Main namespace of this package.
namespace okvis {
//
// DurationBase template member function implementation
//
template<class T>
DurationBase<T>::DurationBase(int32_t _sec, int32_t _nsec)
    : sec(_sec),
      nsec(_nsec) {
  normalizeSecNSecSigned(sec, nsec);
}

template<class T>
T& DurationBase<T>::fromSec(double d) {
#ifdef HAVE_TRUNC
  sec = (int32_t)trunc(d);
#else
  // (morgan: why doesn't win32 provide trunc? argh. hacked this together
  // without much thought. need to test this conversion.
  if (d >= 0.0)
    sec = (int32_t) floor(d);
  else
    sec = (int32_t) floor(d) + 1;
#endif
  nsec = (int32_t)((d - (double) sec) * 1000000000);
  return *static_cast<T*>(this);
}

template<class T>
T& DurationBase<T>::fromNSec(int64_t t) {
  sec = (int32_t)(t / 1000000000);
  nsec = (int32_t)(t % 1000000000);

  normalizeSecNSecSigned(sec, nsec);

  return *static_cast<T*>(this);
}

template<class T>
T DurationBase<T>::operator+(const T &rhs) const {
  return T(sec + rhs.sec, nsec + rhs.nsec);
}

template<class T>
T DurationBase<T>::operator*(double scale) const {
  return T(toSec() * scale);
}

template<class T>
T DurationBase<T>::operator-(const T &rhs) const {
  return T(sec - rhs.sec, nsec - rhs.nsec);
}

template<class T>
T DurationBase<T>::operator-() const {
  return T(-sec, -nsec);
}

template<class T>
T& DurationBase<T>::operator+=(const T &rhs) {
  *this = *this + rhs;
  return *static_cast<T*>(this);
}

template<class T>
T& DurationBase<T>::operator-=(const T &rhs) {
  *this += (-rhs);
  return *static_cast<T*>(this);
}

template<class T>
T& DurationBase<T>::operator*=(double scale) {
  fromSec(toSec() * scale);
  return *static_cast<T*>(this);
}

template<class T>
bool DurationBase<T>::operator<(const T &rhs) const {
  if (sec < rhs.sec)
    return true;
  else if (sec == rhs.sec && nsec < rhs.nsec)
    return true;
  return false;
}

template<class T>
bool DurationBase<T>::operator>(const T &rhs) const {
  if (sec > rhs.sec)
    return true;
  else if (sec == rhs.sec && nsec > rhs.nsec)
    return true;
  return false;
}

template<class T>
bool DurationBase<T>::operator<=(const T &rhs) const {
  if (sec < rhs.sec)
    return true;
  else if (sec == rhs.sec && nsec <= rhs.nsec)
    return true;
  return false;
}

template<class T>
bool DurationBase<T>::operator>=(const T &rhs) const {
  if (sec > rhs.sec)
    return true;
  else if (sec == rhs.sec && nsec >= rhs.nsec)
    return true;
  return false;
}

template<class T>
bool DurationBase<T>::operator==(const T &rhs) const {
  return sec == rhs.sec && nsec == rhs.nsec;
}

template<class T>
bool DurationBase<T>::isZero() {
  return sec == 0 && nsec == 0;
}
}

#endif // INCLUDE_OKVIS_IMPLEMENTATION_DURATION_HPP_
