def get_float_time(stamp):
    """
    Convert a stamp style representation of time (sec, nsec) into a floating-
    point representation.
    """
    
    # Convert nsec from nsecs (int) to seconds (float)
    float_nsecs = float(stamp.nsecs)*0.000000001
    
    # Add the two components together
    float_secs = float(stamp.secs) + float_nsecs

    return float_secs