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combineTimes.m
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combineTimes.m
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function [modified_table] = combineTimes(original_table)
% COMBINETIMES Condenses results from standard ROS header into single time
% Usage:
% modified = COMBINETIMES(data) Scans data for fields matching standard
% header values. If they are found, append a column to the table which
% is the combined seconds and nanoseconds field
% Copyright (c) 2016 David Anthony
%
% This program is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program; if not, write to the Free Software
% Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
% Copy the original data we will add to
modified_table = original_table;
% Field names matching the time fields in a standard ROS header
NSECS_FIELD_NAME = 'header_stamp_nsecs';
SECS_FIELD_NAME = 'header_stamp_secs';
% Find any columns that match the nanosecond field
nsec_fields = strncmp(...
NSECS_FIELD_NAME, ...
modified_table.Properties.VariableNames, ...
length(NSECS_FIELD_NAME));
% Find any columns that match the seconds field
sec_fields = strncmp(...
SECS_FIELD_NAME, ...
modified_table.Properties.VariableNames, ...
length(SECS_FIELD_NAME));
% Either we do not have a header, and the matches fail, or we should find
% exactly one column matching both our time fields.
assert((sum(nsec_fields) == 0) || (sum(nsec_fields) == 1));
assert((sum(sec_fields) == 0) || ...
((sum(sec_fields) == 1) && (sum(nsec_fields) == 1)));
% If we found the time fields in a standard header, combine them into one
% column
if(any(nsec_fields) && any(sec_fields))
% Scale nanoseconds to seconds
nsecs = double(table2array(modified_table(:, nsec_fields))) / 1e9;
secs = double(table2array(modified_table(:, sec_fields)));
% Store the output as seconds
modified_table.header_times = secs + nsecs;
end
end