Method sleep

okvis_ros/okvis/okvis_time/src/Time.cpp:295–323

}

bool Duration::sleep() const {
  if (Time::useSystemTime()) {
    return okvis_wallsleep(sec, nsec);
  } else {
    Time start = Time::now();
    Time end = start + *this;
    if (start.isZero()) {
      end = TIME_MAX;
    }

    while ((Time::now() < end)) {
      okvis_wallsleep(0, 1000000);

      // If we started at time 0 wait for the first actual time to arrive before starting the timer on
      // our sleep
      if (start.isZero()) {
        start = Time::now();
        end = start + *this;
      }

      // If time jumped backwards from when we started sleeping, return immediately
      if (Time::now() < start) {
        return false;
      }
    }

    return true;
  }
}

std::ostream& operator<<(std::ostream& os, const WallTime& rhs) {
  os << rhs.sec << "." << std::setw(9) << std::setfill('0') << rhs.nsec;