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