Timer.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <sys/time.h>

namespace ct {
namespace core {
namespace tpl {


template <typename SCALAR = double>
class Timer
{
public:
    Timer() { reset(); }

    inline void start() { gettimeofday(&start_time, NULL); }

    inline void stop() { gettimeofday(&stop_time, NULL); }

    SCALAR getElapsedTime() const
    {
        return (stop_time.tv_sec - start_time.tv_sec) + (stop_time.tv_usec - start_time.tv_usec) * 1e-6;
    }


    void reset()
    {
        start_time.tv_sec = 0;
        start_time.tv_usec = 0;
        stop_time.tv_sec = 0;
        stop_time.tv_usec = 0;
    }

private:
    struct timeval start_time; 
    struct timeval stop_time;  
};
}

typedef tpl::Timer<double> Timer;
}
}