timer.hpp

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#ifndef ROBOTOC_UTILS_TIMER_HPP_
#define ROBOTOC_UTILS_TIMER_HPP_
 
#include <chrono>
 
namespace robotoc {
 
class Timer {
public:
  Timer() {
    tick();
    tick_ = tock_;
  }
 
  ~Timer() = default;
 
  void tick() { tick_ = std::chrono::high_resolution_clock::now(); }
 
  void tock() { tock_ = std::chrono::high_resolution_clock::now(); }
 
  
  double s() const {
    const std::chrono::duration<double, std::ratio<1, 1>> timing = tock_ - tick_;
    return timing.count();
  }
 
  double ms() const {
    const std::chrono::duration<double, std::milli> timing = tock_ - tick_;
    return timing.count();
  }
 
  double ns() const {
    const std::chrono::duration<double, std::nano> timing = tock_ - tick_;
    return timing.count();
  }
 
private:
  std::chrono::high_resolution_clock::time_point tick_, tock_;
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_UTILS_TIMER_HPP_