ros_time.hh

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#ifndef DYNAMIC_GRAPH_ROS_TIME_HH
#define DYNAMIC_GRAPH_ROS_TIME_HH

#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal.h>
#include <ros/time.h>
#include <boost/date_time/posix_time/posix_time_types.hpp>

namespace dynamic_graph
{
class RosTime : public dynamicgraph::Entity
{
    DYNAMIC_GRAPH_ENTITY_DECL();

public:
    dynamicgraph::Signal<boost::posix_time::ptime, int> now_;
    RosTime(const std::string& name);
    virtual std::string getDocString() const;

protected:
    boost::posix_time::ptime& update(boost::posix_time::ptime& time,
                                     const int& t);

private:
    static const std::string docstring_;
};  // class RosTime

}  // namespace dynamic_graph

#endif  // DYNAMIC_GRAPH_ROS_TIME_HH