text: /*
   * Software License Agreement (BSD License)
   *
   * Copyright (c) 2011, Willow Garage, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   *  * Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   *  * Redistributions in binary form must reproduce the above
   *    copyright notice, this list of conditions and the following
   *    disclaimer in the documentation and/or other materials provided
   *    with the distribution.
   *  * Neither the name of Willow Garage, Inc. nor the names of its
   *    contributors may be used to endorse or promote prducts derived
   *    from this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "ros/time.h"
  
  namespace ros
  {
    void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
      uint32_t nsec_part= nsec % 1000000000UL;
      uint32_t sec_part = nsec / 1000000000UL;
      sec += sec_part;
      nsec = nsec_part;
    }
  
    Time& Time::fromNSec(int32_t t)
    {
      sec = t / 1000000000;
      nsec = t % 1000000000;
      normalizeSecNSec(sec, nsec);
      return *this;
    }
  
    Time& Time::operator +=(const Duration &rhs)
    {
      sec += rhs.sec;
      nsec += rhs.nsec;
      normalizeSecNSec(sec, nsec);
      return *this;
    }
  
    Time& Time::operator -=(const Duration &rhs){
      sec += -rhs.sec;
      nsec += -rhs.nsec;
      normalizeSecNSec(sec, nsec);
      return *this;
    }
  }
  