fix rate initialized by duration

When constructing a Rate object with a duration as argument, it is the expected period duration, not a frequency.
ros · Jul 22, 2014 · 9198a8c · 9198a8c
1 parent ec54971
commit 9198a8c
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/rostime/src/rate.cpp b/rostime/src/rate.cpp
@@ -47,7 +47,7 @@ Rate::Rate(double frequency)
 
 Rate::Rate(const Duration& d)
   : start_(Time::now())
-  , expected_cycle_time_(1.0 / d.toSec())
+  , expected_cycle_time_(d.sec, d.nsec)
   , actual_cycle_time_(0.0)
 { }
 

diff --git a/rostime/test/time.cpp b/rostime/test/time.cpp
@@ -30,6 +30,7 @@
 #include <vector>
 
 #include <gtest/gtest.h>
+#include <ros/rate.h>
 #include <ros/time.h>
 #include <sys/time.h>
 
@@ -409,6 +410,12 @@ TEST(Duration, sleepWithSignal)
   ASSERT_GT(end - start, d);
 }
 
+TEST(Rate, constructFromDuration){
+  Duration d(4, 0);
+  Rate r(d);
+  EXPECT_EQ(r.expectedCycleTime(), d);
+}
+
 ///////////////////////////////////////////////////////////////////////////////////
 // WallTime/WallDuration
 ///////////////////////////////////////////////////////////////////////////////////