23#include "../msgs/SimTime.pb.h"
25#include <utils/time/clock.h>
26#include <utils/time/timesource.h>
28#include <boost/asio.hpp>
30#ifndef _GAZEBO_TIMESOURCE_H_
31# define _GAZEBO_TIMESOURCE_H_
33typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr;
48 virtual void get_time(timeval *tv)
const;
56 timeval get_system_time()
const;
57 timeval add(timeval a, timeval b)
const;
58 timeval subtract(timeval a, timeval b)
const;
64 timeval last_sim_time_;
65 timeval last_sys_recv_time_;
66 double last_real_time_factor_;
67 timeval last_native_sim_time_;
This is supposed to be the central clock in Fawkes.
This time-source provides the simulation time from Gazebo in Fawkes.
void on_time_sync_msg(ConstSimTimePtr &msg)
store data from gazebo time message
GazsimTimesource(Clock *clock)
Constructor.
~GazsimTimesource()
Destructor.
virtual timeval conv_native_to_exttime(const timeval *tv) const
Convert a native time to the external time.
virtual void get_time(timeval *tv) const
The Simulation time is estimated by looking at the timeinterval to the last received msg and the last...
virtual timeval conv_to_realtime(const timeval *tv) const
Convert a time given w.r.t.
Fawkes library namespace.