.. _program_listing_file_include_franka_duration.h:

Program Listing for File duration.h
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_duration.h>` (``include/franka/duration.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <chrono>
   #include <cstdint>
   #include <ratio>
   
   namespace franka {
   
   class Duration {
    public:
     Duration() noexcept;
   
     explicit Duration(uint64_t milliseconds) noexcept;
   
     Duration(std::chrono::duration<uint64_t, std::milli> duration) noexcept;
   
     Duration(const Duration&) = default;
   
     Duration& operator=(const Duration&) = default;
   
     operator std::chrono::duration<uint64_t, std::milli>() const noexcept;
   
     double toSec() const noexcept;
   
     uint64_t toMSec() const noexcept;
   
     Duration operator+(const Duration& rhs) const noexcept;
     Duration& operator+=(const Duration& rhs) noexcept;
   
     Duration operator-(const Duration& rhs) const noexcept;
     Duration& operator-=(const Duration& rhs) noexcept;
   
     Duration operator*(uint64_t rhs) const noexcept;
     Duration& operator*=(uint64_t rhs) noexcept;
   
     uint64_t operator/(const Duration& rhs) const noexcept;
     Duration operator/(uint64_t rhs) const noexcept;
     Duration& operator/=(uint64_t rhs) noexcept;
   
     Duration operator%(const Duration& rhs) const noexcept;
     Duration operator%(uint64_t rhs) const noexcept;
     Duration& operator%=(const Duration& rhs) noexcept;
     Duration& operator%=(uint64_t rhs) noexcept;
   
     bool operator==(const Duration& rhs) const noexcept;
     bool operator!=(const Duration& rhs) const noexcept;
   
     bool operator<(const Duration& rhs) const noexcept;
     bool operator<=(const Duration& rhs) const noexcept;
   
     bool operator>(const Duration& rhs) const noexcept;
     bool operator>=(const Duration& rhs) const noexcept;
   
    private:
     std::chrono::duration<uint64_t, std::milli> duration_;
   };
   
   Duration operator*(uint64_t lhs, const Duration& rhs) noexcept;
   
   }  // namespace franka