16 #ifndef TIME_UTILS__TIME_UTILS_HPP_
17 #define TIME_UTILS__TIME_UTILS_HPP_
20 #include <builtin_interfaces/msg/duration.hpp>
21 #include <builtin_interfaces/msg/time.hpp>
28 TIME_UTILS_PUBLIC builtin_interfaces::msg::Time
to_message(std::chrono::system_clock::time_point t);
30 TIME_UTILS_PUBLIC builtin_interfaces::msg::Duration
to_message(std::chrono::nanoseconds dt);
33 std::chrono::system_clock::time_point
from_message(builtin_interfaces::msg::Time t) noexcept;
36 std::chrono::nanoseconds
from_message(builtin_interfaces::msg::Duration dt) noexcept;
38 TIME_UTILS_PUBLIC std::chrono::nanoseconds
interpolate(
39 std::chrono::nanoseconds a,
40 std::chrono::nanoseconds b,
45 template<
typename TimeT>
50 #endif // TIME_UTILS__TIME_UTILS_HPP_