From 32d38c223603f9fb289cb05fa3cc5f3b43f554b5 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Fri, 17 Aug 2018 14:08:00 -0700
Subject: [PATCH 1/2] add Time::is_zero and Duration::seconds

---
 rclcpp/include/rclcpp/duration.hpp | 7 +++++++
 rclcpp/include/rclcpp/time.hpp     | 4 ++++
 rclcpp/src/rclcpp/duration.cpp     | 6 ++++++
 rclcpp/src/rclcpp/time.cpp         | 6 ++++++
 4 files changed, 23 insertions(+)

diff --git a/rclcpp/include/rclcpp/duration.hpp b/rclcpp/include/rclcpp/duration.hpp
index 6e635848ac..11fc2e298f 100644
--- a/rclcpp/include/rclcpp/duration.hpp
+++ b/rclcpp/include/rclcpp/duration.hpp
@@ -97,6 +97,13 @@ class Duration
   rcl_duration_value_t
   nanoseconds() const;
 
+  /// \return the duration in seconds as a floating point number.
+  /// \warning Depending on sizeof(double) there could be significant precision loss.
+  /// When an exact time is required use nanoseconds() instead.
+  RCLCPP_PUBLIC
+  double
+  seconds() const;
+
 private:
   rcl_duration_t rcl_duration_;
 };
diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
index e93cb64909..4db441ad57 100644
--- a/rclcpp/include/rclcpp/time.hpp
+++ b/rclcpp/include/rclcpp/time.hpp
@@ -113,6 +113,10 @@ class Time
   rcl_clock_type_t
   get_clock_type() const;
 
+  RCLCPP_PUBLIC
+  bool
+  is_zero() const;
+
 private:
   rcl_time_point_t rcl_time_;
   friend Clock;  // Allow clock to manipulate internal data
diff --git a/rclcpp/src/rclcpp/duration.cpp b/rclcpp/src/rclcpp/duration.cpp
index afbc2934a8..0455abecd2 100644
--- a/rclcpp/src/rclcpp/duration.cpp
+++ b/rclcpp/src/rclcpp/duration.cpp
@@ -214,4 +214,10 @@ Duration::nanoseconds() const
   return rcl_duration_.nanoseconds;
 }
 
+double
+Duration::seconds() const
+{
+  return std::chrono::duration<double>(std::chrono::nanoseconds(rcl_duration_.nanoseconds)).count();
+}
+
 }  // namespace rclcpp
diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
index 9ab924a8b6..749b8a87bb 100644
--- a/rclcpp/src/rclcpp/time.cpp
+++ b/rclcpp/src/rclcpp/time.cpp
@@ -239,6 +239,12 @@ Time::get_clock_type() const
   return rcl_time_.clock_type;
 }
 
+bool
+Time::is_zero() const
+{
+  return 0 == rcl_time_.nanoseconds;
+}
+
 Time
 operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs)
 {

From 2fbf62b08d236ebd867c87e2ea133c1eb791fd9d Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Sat, 18 Aug 2018 10:54:16 -0700
Subject: [PATCH 2/2] remove is_zero() for now

---
 rclcpp/include/rclcpp/time.hpp | 4 ----
 rclcpp/src/rclcpp/time.cpp     | 6 ------
 2 files changed, 10 deletions(-)

diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
index 4db441ad57..e93cb64909 100644
--- a/rclcpp/include/rclcpp/time.hpp
+++ b/rclcpp/include/rclcpp/time.hpp
@@ -113,10 +113,6 @@ class Time
   rcl_clock_type_t
   get_clock_type() const;
 
-  RCLCPP_PUBLIC
-  bool
-  is_zero() const;
-
 private:
   rcl_time_point_t rcl_time_;
   friend Clock;  // Allow clock to manipulate internal data
diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
index 749b8a87bb..9ab924a8b6 100644
--- a/rclcpp/src/rclcpp/time.cpp
+++ b/rclcpp/src/rclcpp/time.cpp
@@ -239,12 +239,6 @@ Time::get_clock_type() const
   return rcl_time_.clock_type;
 }
 
-bool
-Time::is_zero() const
-{
-  return 0 == rcl_time_.nanoseconds;
-}
-
 Time
 operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs)
 {