[Personalrobots-commit] SF.net SVN: personalrobots: [181] pkg/trunk/libTF

[<tf...@us...>]

Revision: 181
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=181&view=rev
Author:   tfoote
Date:     2008-04-25 17:20:57 -0700 (Fri, 25 Apr 2008)

Log Message:
-----------
changing to nanoseconds

Modified Paths:
--------------
    pkg/trunk/libTF/include/libTF/Quaternion3D.h
    pkg/trunk/libTF/src/simple/Quaternion3D.cpp

Modified: pkg/trunk/libTF/include/libTF/Quaternion3D.h
===================================================================
--- pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-25 20:36:20 UTC (rev 180)
+++ pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-26 00:20:57 UTC (rev 181)
@@ -52,7 +52,7 @@
 class Quaternion3D {
 
 public:
-  static const int MIN_INTERPOLATION_DISTANCE = 5; //Number of micro seconds to not interpolate below.
+  static const int MIN_INTERPOLATION_DISTANCE = 5; //Number of nano-seconds to not interpolate below.
   // Storage class
   class Quaternion3DStorage
   {
@@ -72,7 +72,7 @@
 
     /* Internal Data */    
     double xt, yt, zt, xr, yr, zr, w;
-    unsigned long long time;
+    unsigned long long time; //nanoseconds since 1970
   };
   
   /** Constructors **/
@@ -99,7 +99,7 @@
   NEWMAT::Matrix getInverseMatrix(unsigned long long time);
 
   /**** Utility Functions ****/
-  // this is a function to return the current time in microseconds from the beginning of 1970
+  // this is a function to return the current time in nanooseconds from the beginning of 1970
   static  unsigned long long Qgettime(void);
 
   // Convert DH Parameters to a Homogeneous Transformation Matrix
@@ -116,7 +116,7 @@
   
 private:
   /**** Linked List stuff ****/
-  static const long long MAX_STORAGE_TIME = 100000000; // max of 100 seconds storage
+  static const unsigned long long MAX_STORAGE_TIME = 100ULL * 1000000000ULL; // max of 100 seconds storage
  
   struct data_LL{
     Quaternion3DStorage data;

Modified: pkg/trunk/libTF/src/simple/Quaternion3D.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-25 20:36:20 UTC (rev 180)
+++ pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-26 00:20:57 UTC (rev 181)
@@ -316,7 +316,7 @@
 {
   timeval temp_time_struct;
   gettimeofday(&temp_time_struct,NULL);
-  return temp_time_struct.tv_sec * 1000000ULL + (unsigned long long)temp_time_struct.tv_usec;
+  return temp_time_struct.tv_sec * 1000000000ULL + (unsigned long long)temp_time_struct.tv_usec * 1000ULL;
 }
 
 


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