Fawkes API
Fawkes Development Version
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This time-source provides the simulation time from Gazebo in Fawkes. More...
#include <gazsim_timesource_source.h>
Public Member Functions | |
GazsimTimesource (Clock *clock) | |
Constructor. More... | |
~GazsimTimesource () | |
Destructor. More... | |
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 real time factor. More... | |
virtual timeval | conv_to_realtime (const timeval *tv) const |
Convert a time given w.r.t. More... | |
virtual timeval | conv_native_to_exttime (const timeval *tv) const |
Convert a native time to the external time. More... | |
void | on_time_sync_msg (ConstSimTimePtr &msg) |
store data from gazebo time message More... | |
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virtual | ~TimeSource () |
Destructor. More... | |
This time-source provides the simulation time from Gazebo in Fawkes.
Definition at line 41 of file gazsim_timesource_source.h.
GazsimTimesource::GazsimTimesource | ( | Clock * | clock | ) |
Constructor.
clock | pointer to fawkes clock |
Definition at line 31 of file gazsim_timesource_source.cpp.
References fawkes::Clock::get_systime().
Referenced by GazsimTimesourceThread::init().
GazsimTimesource::~GazsimTimesource | ( | ) |
Destructor.
Definition at line 41 of file gazsim_timesource_source.cpp.
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virtual |
Convert a native time to the external time.
When communicating with another instance which provides times in some timeformat native to the underlying time source (e.g. received from a simulation) it must be converted to a Fawkes time.
tv | time in external time source native format |
Implements fawkes::TimeSource.
Definition at line 86 of file gazsim_timesource_source.cpp.
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virtual |
Convert a time given w.r.t.
this time sources into system time.
tv | the time to convert |
Implements fawkes::TimeSource.
Definition at line 71 of file gazsim_timesource_source.cpp.
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virtual |
The Simulation time is estimated by looking at the timeinterval to the last received msg and the last real time factor.
With this method, I want to reduce the number of send messages from Gazebo
tv | timeinterval |
Implements fawkes::TimeSource.
Definition at line 52 of file gazsim_timesource_source.cpp.
Referenced by on_time_sync_msg().
void GazsimTimesource::on_time_sync_msg | ( | ConstSimTimePtr & | msg | ) |
store data from gazebo time message
msg | message |
Definition at line 104 of file gazsim_timesource_source.cpp.
References fawkes::Clock::get_systime(), and get_time().