according to the API docs, there is already a function to convert from ros::Time to boost. The function is called toBoost, docs can be found here:
On Mon, Jan 23, 2012 at 4:26 PM, Markus Bader
<markus.bader@tuwien.ac.at> wrote:
Hi
ROS is using many boost libs, but has his own time/duration/.. implentation
Would it be possible to add at least a convertion funtion to the boost
time classes
like:
boost::posix_time::ptime rostime2ptime_utc(const ros::Time &t) {
using namespace boost::posix_time;
typedef boost::date_time::subsecond_duration<time_duration,1000000000>
nanoseconds;
boost::gregorian::date d(1970, boost::gregorian::Jan, 1);
ptime t_utc(d, seconds(t.sec) + nanoseconds(t.nsec));
return t_utc;
}
boost::posix_time::ptime rostime2ptime_local(const ros::Time &t) {
using namespace boost::posix_time;
ptime t_utc = rostime2ptime_utc(t);
ptime t_local =
boost::date_time::c_local_adjustor<ptime>::utc_to_local(t_utc);
return t_local;
}
Greetings
Markus
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