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Fix duration bug and add tests. #98

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Jan 26, 2019
+27 −2
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Fix duration bug and add tests. #98

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7 changes: 5 additions & 2 deletions rostime/include/ros/impl/duration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -63,11 +63,14 @@ namespace ros {
template<class T>
T& DurationBase<T>::fromNSec(int64_t t)
{
int64_t sec64 = t / 1000000000;
int64_t sec64 = t / 1000000000LL;
if (sec64 < INT_MIN || sec64 > INT_MAX)
throw std::runtime_error("Duration is out of dual 32-bit range");
sec = (int32_t)sec64;
nsec = (int32_t)(t % 1000000000);
nsec = (int32_t)(t % 1000000000LL);

normalizeSecNSecSigned(sec, nsec);

return *static_cast<T*>(this);
}

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22 changes: 22 additions & 0 deletions rostime/test/time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -415,6 +415,21 @@ TEST(Duration, ToFromSec)
EXPECT_EQ(ros::Duration(-0.5), ros::Duration(0, -500000000LL));
}

TEST(Duration, FromNSec)
{
ros::Duration t;
t.fromNSec(-500000000LL);
EXPECT_EQ(ros::Duration(-0.5), t);

t.fromNSec(-1500000000LL);
EXPECT_EQ(ros::Duration(-1.5), t);

t.fromNSec(500000000LL);
EXPECT_EQ(ros::Duration(0.5), t);

t.fromNSec(1500000000LL);
EXPECT_EQ(ros::Duration(1.5), t);
}

TEST(Duration, OperatorPlus)
{
Expand Down Expand Up @@ -448,6 +463,13 @@ TEST(Duration, OperatorMinus)

}

ros::Time t1(1.1);
ros::Time t2(1.3);
ros::Duration time_diff = t1 - t2; //=-0.2

EXPECT_NEAR(time_diff.toSec(), -0.2, epsilon);
EXPECT_LE(time_diff, ros::Duration(-0.19));
EXPECT_GE(time_diff, ros::Duration(-0.21));
}

TEST(Duration, OperatorTimes)
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