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_
33 typedef 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_;