#include <PhysicallyStableClock.h>

Inherits ROS2::SimulationClock.

Public Member Functions
void	Activate () override

void	Deactivate () override

builtin_interfaces::msg::Time	GetROSTimestamp () const override

Public Member Functions inherited from ROS2::SimulationClock
virtual void	Activate ()

virtual void	Deactivate ()

virtual builtin_interfaces::msg::Time	GetROSTimestamp () const

virtual void	Tick ()

AZStd::chrono::duration< float, AZStd::chrono::seconds::period >	GetExpectedSimulationLoopTime () const
	Returns an expected loop time of simulation. It is an estimation from past frames.

Detailed Description

Simulation clock which changes source to physics of timestamps that are provided by GetROSTimestamp. The simulated clock is incremented with delta times that were simulated by physics. Clock register and observes AZ::PhysicsScene and when simulation starts, it attaches and starts to count updates. It is recommended to use with high-frequency sensors such as odometry and IMUs.