timekeeper.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   timekeeper.h
 * @brief  Used for simulation time keeping
 * @author Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
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#ifndef FLATLAND_SERVER_TIME_KEEPER_H
#define FLATLAND_SERVER_TIME_KEEPER_H

#include <ros/ros.h>
#include <ros/time.h>

namespace flatland_server {

class Timekeeper {
 public:
  ros::Publisher clock_pub_;       
  ros::NodeHandle nh_;             
  ros::Time time_;                 
  double max_step_size_;           
  const std::string clock_topic_;  

  Timekeeper();

  void StepTime();

  void UpdateRosClock() const;

  void SetMaxStepSize(double step_size);

  const ros::Time& GetSimTime() const;

  double GetStepSize() const;

  double GetMaxStepSize() const;
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_TIME_KEEPER_H