ros.hpp

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// Copyright (C) 2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include <rclcpp/time.hpp>
 
#include "smooth/feedback/time.hpp"
 
namespace smooth::feedback {
 
template<>
struct time_trait<rclcpp::Time>
{
  static rclcpp::Time plus(rclcpp::Time t, double t_dbl) { return t + rclcpp::Duration::from_seconds(t_dbl); }
 
  static double minus(rclcpp::Time t2, rclcpp::Time t1)
  {
    return (t2 - t1).to_chrono<std::chrono::duration<double>>().count();
  }
};
 
}  // namespace smooth::feedback