// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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#ifndef G2O_TIMEUTIL_H
#define G2O_TIMEUTIL_H

#include <string>

#include "g2o_stuff_api.h"

/** @addtogroup utils **/
// @{

/** \file timeutil.h
 * \brief utility functions for handling time related stuff
 */

namespace g2o {
/**
 * return the current time in seconds since 1. Jan 1970
 */
G2O_STUFF_API double get_time();

/**
 * return a monotonic increasing time which basically does not need to
 * have a reference point. Consider this for measuring how long some
 * code fragments required to execute.
 */
G2O_STUFF_API double get_monotonic_time();

/**
 * \brief Class to measure the time spent in a scope
 *
 * To use this class, e.g. to measure the time spent in a function,
 * just create and instance at the beginning of the function.
 */
class G2O_STUFF_API ScopeTime {
 public:
  explicit ScopeTime(const char* title);
  ~ScopeTime();

 private:
  std::string title_;
  double startTime_;
};

}  // namespace g2o

#ifndef MEASURE_FUNCTION_TIME
#define MEASURE_FUNCTION_TIME g2o::ScopeTime scopeTime(__FUNCTION__)
#endif

// @}
#endif