60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
/* Desc: Gazebo Time functions
|
||
|
|
* Author: Nate Koenig, Andrew Howard
|
||
|
|
* Date: 2 March 2006
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef GAZEBO_PLAYER_TIME_HH
|
||
|
|
#define GAZEBO_PLAYER_TIME_HH
|
||
|
|
|
||
|
|
#include "player.h"
|
||
|
|
|
||
|
|
#include "gazebo/common/CommonTypes.hh"
|
||
|
|
#include "gazebo/transport/TransportTypes.hh"
|
||
|
|
#include "gazebo/msgs/msgs.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
/// \addtogroup player
|
||
|
|
/// \brief Gazebo player driver
|
||
|
|
/// \{
|
||
|
|
/// \brief Gazebo access to PlayerTime
|
||
|
|
class GAZEBO_VISIBLE GazeboTime : public PlayerTime
|
||
|
|
{
|
||
|
|
/// \brief Constructor
|
||
|
|
public: GazeboTime();
|
||
|
|
|
||
|
|
/// \brief Destructor
|
||
|
|
public: virtual ~GazeboTime();
|
||
|
|
|
||
|
|
/// \brief Get the simulator time
|
||
|
|
public: int GetTime(struct timeval *_time);
|
||
|
|
|
||
|
|
/// \brief Get the simulator time
|
||
|
|
public: int GetTimeDouble(double *_time);
|
||
|
|
|
||
|
|
private: void OnStats(ConstWorldStatisticsPtr &_msg);
|
||
|
|
|
||
|
|
private: gazebo::transport::NodePtr node;
|
||
|
|
private: gazebo::transport::SubscriberPtr statsSub;
|
||
|
|
private: gazebo::common::Time simTime;
|
||
|
|
};
|
||
|
|
|
||
|
|
/// \}
|
||
|
|
|
||
|
|
#endif
|