/usr/include/rosbag/time_translator.h is in librosbag-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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#ifndef ROSBAG_TIME_TRANSLATOR_H
#define ROSBAG_TIME_TRANSLATOR_H
#include "ros/time.h"
#include "rosbag/macros.h"
namespace rosbag {
//! Helper class for translating between two times
/*!
* The time translator can be configured with a Real start time, a
* Translated start time, and a time scale.
*
* It will convert a time from a series starting at realStartTime to a
* comparable time series instead starting at translatedStartTime.
* All durations in the time-sequence as scaled by 1/(timeScale).
*
* That is, a time-sequence with time-scale 2 will finish twice as
* quickly.
*/
class ROSBAG_DECL TimeTranslator
{
public:
TimeTranslator();
void setTimeScale(double const& s);
void setRealStartTime(ros::Time const& t);
void setTranslatedStartTime(ros::Time const& t); //!< Increments the translated start time by shift. Useful for pausing.
void shift(ros::Duration const& d); //!< Increments the translated start time by shift. Useful for pausing.
ros::Time translate(ros::Time const& t);
private:
double time_scale_;
ros::Time real_start_;
ros::Time translated_start_;
};
} // namespace rosbag
#endif
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