reference/2.0.1/time__unittest_8cpp_source.html

 /* +------------------------------------------------------------------------+
    |                     Mobile Robot Programming Toolkit (MRPT)            |
    |                          https://www.mrpt.org/                         |
    |                                                                        |
    | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
    | See: https://www.mrpt.org/Authors - All rights reserved.               |
    | Released under BSD License. See: https://www.mrpt.org/License          |
    +------------------------------------------------------------------------+ */

 /*
  * test_time.cpp
  *
  *  Created on: July 15, 2014
  *      Author: Markus Bader
  */

 #include <gtest/gtest.h>
 #include <mrpt/ros1bridge/time.h>

 TEST(Time, basicTest)
 {
     const auto org_time = mrpt::Clock::now();

     ros::Time ros_tim = mrpt::ros1bridge::toROS(org_time);
     mrpt::system::TTimeStamp mrpt_tim = mrpt::ros1bridge::fromROS(ros_tim);

     EXPECT_NEAR(mrpt::system::timeDifference(org_time, mrpt_tim), .0, 1e-6);
 }
time.h

mrpt::Clock::now
static time_point now() noexcept
Returns the current time using the currently selected Clock source.
Definition: Clock.cpp:94

mrpt::system::TTimeStamp
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:40

TEST
TEST(Time, basicTest)
Definition: time_unittest.cpp:20

mrpt::ros1bridge::toROS
bool toROS(const mrpt::obs::CObservationGPS &obj, const std_msgs::Header &msg_header, sensor_msgs::NavSatFix &msg)
Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix The user must supply the "msg_header" fie...
Definition: gps.cpp:48

mrpt::ros1bridge::fromROS
bool fromROS(const sensor_msgs::NavSatFix &msg, mrpt::obs::CObservationGPS &obj)
Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS.
Definition: gps.cpp:20

mrpt::system::timeDifference
double timeDifference(const mrpt::system::TTimeStamp t_first, const mrpt::system::TTimeStamp t_later)
Returns the time difference from t1 to t2 (positive if t2 is posterior to t1), in seconds...
Definition: datetime.h:123

EXPECT_NEAR
EXPECT_NEAR(out.cam_params.rightCameraPose.x, 0.1194, 0.005)