Merge pull request #374 from ebruun/duration_float_change

Duration class change, take float as sec variable

Author: gonzalocasas

AUTHORS.rst

@@ -47,3 +47,5 @@ Authors
 * Beverly Lytle <[email protected]> `@beverlylytle <https://github.com/beverlylytle>`_
 * Yijiang Huang <[email protected]> `@yijiangh <https://github.com/yijiangh>`_
 * Chen Kasirer <[email protected]> `@chenkasirer <https://github.com/chenkasirer>`_
+* Edvard Bruun <[email protected]> `@ebruun <https://github.com/ebruun>`_
+

CHANGELOG.rst

@@ -19,6 +19,7 @@ Unreleased
 **Changed**
 
 * Changed behavior of ``Attach Tool`` GH component to only attach the tool but not add it to the planning scene state.
+* Duration class takes floats as ``sec`` variable
 
 **Fixed**
 

src/compas_fab/robots/time_.py

@@ -8,19 +8,24 @@
 
 
 class Duration(object):
-    """Duration consists of two integers: seconds and nanoseconds.
+    """Duration consists of two values: seconds (float) and nanoseconds (int).
+    The total number of seconds is the sum of these values.
+    The decimal portion of the secs variable is converted to an integer and added to nsecs.
 
     Attributes
     ----------
-    secs: int
-        Integer representing number of seconds.
+    secs: float
+        Float representing number of seconds.
     nsecs: int
         Integer representing number of nanoseconds.
     """
 
     def __init__(self, secs, nsecs):
-        self.secs = int(secs)
-        self.nsecs = int(nsecs)
+        sec_to_nano_factor = 1e9
+        quotient, remainder = divmod(secs, 1)
+
+        self.secs = int(quotient)
+        self.nsecs = int(remainder*sec_to_nano_factor) + int(nsecs)
 
     def __str__(self):
         return 'Duration({!r}, {!r})'.format(self.secs, self.nsecs)

tests/robots/test_duration.py

@@ -6,9 +6,14 @@ def test_seconds():
     assert d.seconds == 2.5
 
 
-def test_ctor_only_takes_integers():
-    d = Duration(2.5, 5e+8)
-    assert d.seconds == 2.5
+def test_ctor_takes_sec_as_float():
+    d = Duration(2.6, 0)
+    assert d.seconds == 2.6
+
+
+def test_sec_remainder_add_to_nsec():
+    d = Duration(2.6, 5e+8)
+    assert d.seconds == 3.1
 
 
 def test_repr():