ConditionDuration.hpp

00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 10 16:16:57 CEST 2002  ConditionDuration.hpp
00003 
00004                         ConditionDuration.hpp -  description
00005                            -------------------
00006     begin                : Thu October 10 2002
00007     copyright            : (C) 2002 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef CONDITIONDURATION_HPP
00040 #define CONDITIONDURATION_HPP
00041 
00042 #include "ConditionInterface.hpp"
00043 #include "TimeService.hpp"
00044 
00045 namespace RTT
00046 {
00047 
00052     class RTT_API ConditionDuration
00053         : public ConditionInterface
00054     {
00055         typedef TimeService::nsecs nsecs;
00056         typedef TimeService::ticks ticks;
00057 
00058     public:
00066         ConditionDuration( nsecs t, bool invert = false );
00067 
00068         virtual ~ConditionDuration();
00069 
00070         virtual bool evaluate();
00071 
00072         virtual void reset();
00073 
00074         ConditionInterface* clone() const;
00075 
00076     private:
00077 
00081         nsecs time;
00085         TimeService *hb;
00089         ticks mark;
00090 
00094         bool _invert;
00095     };
00096 
00097 }
00098 
00099 #endif
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