time_translator.h

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#ifndef ROSBAG_TIME_TRANSLATOR_H
#define ROSBAG_TIME_TRANSLATOR_H

#include "ros/time.h"
#include "rosbag/macros.h"

namespace rosbag {


class ROSBAG_DECL TimeTranslator
{
public:
    TimeTranslator();

    void      setTimeScale(double const& s);
    void      setRealStartTime(ros::Time const& t);
    void      setTranslatedStartTime(ros::Time const& t);  
    void      shift(ros::Duration const& d);               
    ros::Time translate(ros::Time const& t);

private:
    double    time_scale_;
    ros::Time real_start_;
    ros::Time translated_start_;
};

} // namespace rosbag

#endif