VisionTimer.hpp

//VisionTimer.hpp
// Created on: Mar 29, 2016
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>
#pragma once
#include <ctime>
#include <stdio.h>
#include <iostream>
#include <sys/stat.h>
class VisionTimer
{
public:
    double timeoutSec;
    VisionTimer(double timeoutSec=10.0):timeoutSec(timeoutSec)
    {
        clock_gettime(CLOCK_REALTIME, &beg_);
        beg_.tv_sec -= timeoutSec + 1;
    }

    double elapsed()
    {
        clock_gettime(CLOCK_REALTIME, &end_);
        return end_.tv_sec - beg_.tv_sec
                + (end_.tv_nsec - beg_.tv_nsec) / 1000000000.;
    }

    void reset()
    {
        clock_gettime(CLOCK_REALTIME, &beg_);
    }

    bool IsDead(float timeout)
    {
        return (elapsed() > timeout);
    }

    bool IsDead()
    {
        return (elapsed() > timeoutSec);
    }

private:
    timespec beg_, end_;
};