rtt_rosclock.h

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#ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_H
#define __RTT_ROSCLOCK_RTT_ROSCLOCK_H

#include <rtt/RTT.hpp>
#include <rtt/os/TimeService.hpp>
#include <ros/time.h>

namespace rtt_rosclock {

  const ros::Time host_now();

  const ros::Time host_wall_now();

  const ros::Time rtt_now();
  
  const ros::Time rtt_wall_now();

  const RTT::Seconds host_offset_from_rtt();

  const bool set_sim_clock_activity(RTT::TaskContext *t);

  void use_ros_clock_topic();

  void use_manual_clock();

  const bool enable_sim();
  
  const bool disable_sim();

  void update_sim_clock(const ros::Time new_time);
}

#endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_H