www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CreateAndAddROSDurationObjectsExample.m
%% Work with ROS Duration Objects % Create ROS |Duration| objects, perform addition and subtraction, and % compare duration objects. You can also add duration objects to ROS |Time| objects to get % another |Time| object. %% % Create a duration using seconds and nanoseconds. dur1 = rosduration(100,2000000) %% % Create a duration using a floating-point value. This sets the seconds % using the integer portion and nanoseconds with the remainder. dur2 = rosduration(20.5) %% % Add the two durations together to get a single duration. dur3 = dur1 + dur2 %% % Subtract durations and get a negative duration. You can initialize % durations with negative values as well. dur4 = dur2 - dur1 dur5 = rosduration(-1,2000000) %% % Compare durations. dur1 > dur2 %% % Add a duration to a ROS |Time| object. time = rostime('now','system') timeFuture = time + dur3