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Improved Accuracy with RCUTILS #672

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Improved Accuracy with RCUTILS #672

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3fd2f9f
Improved Accuracy
CursedRock17 Apr 23, 2024
eb14e05
Changing method
CursedRock17 Aug 19, 2024
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12 changes: 2 additions & 10 deletions tf2/src/time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@

#include "rcutils/snprintf.h"
#include "rcutils/strerror.h"
#include "rcutils/time.h"
#include "tf2/time.h"

tf2::TimePoint tf2::get_now()
Expand All @@ -60,16 +61,7 @@ tf2::TimePoint tf2::timeFromSec(double t_sec)
double tf2::durationToSec(const tf2::Duration & input)
{
int64_t count = input.count();

// scale the nanoseconds separately for improved accuracy
int32_t sec, nsec;
nsec = static_cast<int32_t>(count % 1000000000l);
sec = static_cast<int32_t>((count - nsec) / 1000000000l);

double sec_double, nsec_double;
nsec_double = 1e-9 * static_cast<double>(nsec);
sec_double = static_cast<double>(sec);
return sec_double + nsec_double;
return rcutils_nanoseconds_to_seconds(count);
}

double tf2::timeToSec(const tf2::TimePoint & timepoint)
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