Represents a duration with millisecond resolution. More...

#include <duration.h>

Public Member Functions
	Duration () noexcept
	Creates a new Duration instance with zero milliseconds.

	Duration (uint64_t milliseconds) noexcept
	Creates a new Duration instance from the given number of milliseconds.

	Duration (std::chrono::duration< uint64_t, std::milli > duration) noexcept
	Creates a new Duration instance from an std::chrono::duration.

	Duration (const Duration &)=default
	Creates a copy of a Duration instance.

Duration &	operator= (const Duration &)=default
	Assigns the contents of one Duration to another.

	operator std::chrono::duration< uint64_t, std::milli > () const noexcept
	Returns the stored duration as an std::chrono::duration.

double	toSec () const noexcept
	Returns the stored duration in \([s]\).

uint64_t	toMSec () const noexcept
	Returns the stored duration in \([ms]\).

Arithmetic operators
Duration	operator+ (const Duration &rhs) const noexcept
	Performs addition.

Duration &	operator+= (const Duration &rhs) noexcept
	Performs addition.

Duration	operator- (const Duration &rhs) const noexcept
	Performs subtraction.

Duration &	operator-= (const Duration &rhs) noexcept
	Performs subtraction.

Duration	operator* (uint64_t rhs) const noexcept
	Performs multiplication.

Duration &	operator*= (uint64_t rhs) noexcept
	Performs multiplication.

uint64_t	operator/ (const Duration &rhs) const noexcept
	Performs division.

Duration	operator/ (uint64_t rhs) const noexcept
	Performs division.

Duration &	operator/= (uint64_t rhs) noexcept
	Performs division.

Duration	operator% (const Duration &rhs) const noexcept
	Performs the modulo operation.

Duration	operator% (uint64_t rhs) const noexcept
	Performs the modulo operation.

Duration &	operator%= (const Duration &rhs) noexcept
	Performs the modulo operation.

Duration &	operator%= (uint64_t rhs) noexcept
	Performs the modulo operation.

Comparison operators
bool	operator== (const Duration &rhs) const noexcept
	Compares two durations for equality.

bool	operator!= (const Duration &rhs) const noexcept
	Compares two durations for inequality.

bool	operator< (const Duration &rhs) const noexcept
	Compares two durations.

bool	operator<= (const Duration &rhs) const noexcept
	Compares two durations.

bool	operator> (const Duration &rhs) const noexcept
	Compares two durations.

bool	operator>= (const Duration &rhs) const noexcept
	Compares two durations.

Detailed Description

Represents a duration with millisecond resolution.

Examples: cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_pose_motion_external_control_loop.cpp, generate_cartesian_velocity_motion.cpp, generate_cartesian_velocity_motion_external_control_loop.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_position_motion_external_control_loop.cpp, generate_joint_velocity_motion.cpp, generate_joint_velocity_motion_external_control_loop.cpp, joint_impedance_control.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.

Constructor & Destructor Documentation

◆ Duration() [1/2]

franka::Duration::Duration ( uint64_t milliseconds )

explicitnoexcept

Creates a new Duration instance from the given number of milliseconds.

Parameters

[in] milliseconds Number of milliseconds.

◆ Duration() [2/2]

franka::Duration::Duration ( std::chrono::duration< uint64_t, std::milli > duration )

noexcept

Creates a new Duration instance from an std::chrono::duration.

Parameters

[in] duration Duration.

Member Function Documentation

◆ operator std::chrono::duration< uint64_t, std::milli >()

franka::Duration::operator std::chrono::duration< uint64_t, std::milli > ( ) const

noexcept

Returns the stored duration as an std::chrono::duration.

Returns: Duration as std::chrono::duration.

◆ operator!=()

bool franka::Duration::operator!= ( const Duration & rhs ) const

noexcept

Compares two durations for inequality.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if the duration are not equal, false otherwise.

◆ operator%() [1/2]

Duration franka::Duration::operator% ( const Duration & rhs ) const

noexcept

Performs the modulo operation.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator%() [2/2]

Duration franka::Duration::operator% ( uint64_t rhs ) const

noexcept

Performs the modulo operation.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator%=() [1/2]

Duration & franka::Duration::operator%= ( const Duration & rhs )

noexcept

Performs the modulo operation.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator%=() [2/2]

Duration & franka::Duration::operator%= ( uint64_t rhs )

noexcept

Performs the modulo operation.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator*()

Duration franka::Duration::operator* ( uint64_t rhs ) const

noexcept

Performs multiplication.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator*=()

Duration & franka::Duration::operator*= ( uint64_t rhs )

noexcept

Performs multiplication.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator+()

Duration franka::Duration::operator+ ( const Duration & rhs ) const

noexcept

Performs addition.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator+=()

Duration & franka::Duration::operator+= ( const Duration & rhs )

noexcept

Performs addition.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator-()

Duration franka::Duration::operator- ( const Duration & rhs ) const

noexcept

Performs subtraction.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator-=()

Duration & franka::Duration::operator-= ( const Duration & rhs )

noexcept

Performs subtraction.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator/() [1/2]

uint64_t franka::Duration::operator/ ( const Duration & rhs ) const

noexcept

Performs division.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator/() [2/2]

Duration franka::Duration::operator/ ( uint64_t rhs ) const

noexcept

Performs division.

Parameters

[in] rhs Right-hand side of the operation.

Returns: Result of the operation.

◆ operator/=()

Duration & franka::Duration::operator/= ( uint64_t rhs )

noexcept

Performs division.

Parameters

[in] rhs Right-hand side of the operation.

Returns: This duration.

◆ operator<()

bool franka::Duration::operator< ( const Duration & rhs ) const

noexcept

Compares two durations.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if this duration is shorter than rhs, false otherwise.

◆ operator<=()

bool franka::Duration::operator<= ( const Duration & rhs ) const

noexcept

Compares two durations.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if this duration is shorter than or equal to rhs, false otherwise.

◆ operator=()

Duration & franka::Duration::operator= ( const Duration & )

default

Assigns the contents of one Duration to another.

Returns: Result of the operation.

◆ operator==()

bool franka::Duration::operator== ( const Duration & rhs ) const

noexcept

Compares two durations for equality.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if the duration are equal, false otherwise.

◆ operator>()

bool franka::Duration::operator> ( const Duration & rhs ) const

noexcept

Compares two durations.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if this duration is longer than rhs, false otherwise.

◆ operator>=()

bool franka::Duration::operator>= ( const Duration & rhs ) const

noexcept

Compares two durations.

Parameters

[in] rhs Right-hand side of the comparison.

Returns: True if this duration is longer than or equal to rhs, false otherwise.

◆ toMSec()

uint64_t franka::Duration::toMSec ( ) const

noexcept

Returns the stored duration in \([ms]\).

Returns: Duration in \([ms]\).

Examples: communication_test.cpp.

◆ toSec()

double franka::Duration::toSec ( ) const

noexcept

Returns the stored duration in \([s]\).

Returns: Duration in \([s]\).

Examples: generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, and generate_joint_velocity_motion.cpp.

The documentation for this class was generated from the following file:

include/franka/duration.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Duration() [1/2]

◆ Duration() [2/2]

Member Function Documentation

◆ operator std::chrono::duration< uint64_t, std::milli >()

◆ operator!=()

◆ operator%() [1/2]

◆ operator%() [2/2]

◆ operator%=() [1/2]

◆ operator%=() [2/2]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=()

◆ operator<()

◆ operator<=()

◆ operator=()

◆ operator==()

◆ operator>()

◆ operator>=()

◆ toMSec()

◆ toSec()