37 #ifndef OMPL_UTIL_TIME_
38 #define OMPL_UTIL_TIME_
40 #include <boost/date_time/posix_time/posix_time.hpp>
50 typedef boost::posix_time::ptime
point;
53 typedef boost::posix_time::time_duration
duration;
58 return boost::posix_time::microsec_clock::universal_time();
65 long us = (long)((sec - s) * 1000000);
72 return (
double)d.total_microseconds() / 1000000.0;