17#ifndef GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
18#define GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
25#include "gazebo/physics/physics.hh"
39 public:
virtual void Init();
68 protected: sdf::ElementPtr
sdf;
85 protected:
double tau;
A plugin that simulates a linear battery.
Definition LinearBatteryPlugin.hh:31
double ismooth
Smoothed battery current in A.
Definition LinearBatteryPlugin.hh:91
double iraw
Raw battery current in A.
Definition LinearBatteryPlugin.hh:88
physics::WorldPtr world
Pointer to world.
Definition LinearBatteryPlugin.hh:53
double e0
Open-circuit voltage.
Definition LinearBatteryPlugin.hh:72
LinearBatteryPlugin()
Constructor.
physics::PhysicsEnginePtr physics
Pointer to physics engine.
Definition LinearBatteryPlugin.hh:56
double c
Battery capacity in Ah.
Definition LinearBatteryPlugin.hh:79
physics::LinkPtr link
Pointer to link containing battery link.
Definition LinearBatteryPlugin.hh:62
virtual void Init()
Override this method for custom plugin initialization behavior.
physics::ModelPtr model
Pointer to model containing plugin.
Definition LinearBatteryPlugin.hh:59
virtual void Reset()
Override this method for custom plugin reset behavior.
double q
Instantaneous battery charge in Ah.
Definition LinearBatteryPlugin.hh:94
double r
Battery inner resistance in Ohm.
Definition LinearBatteryPlugin.hh:82
common::BatteryPtr battery
Pointer to battery contained in link.
Definition LinearBatteryPlugin.hh:65
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
sdf::ElementPtr sdf
SDF for this plugin;.
Definition LinearBatteryPlugin.hh:68
event::ConnectionPtr updateConnection
Connection to World Update events.
Definition LinearBatteryPlugin.hh:50
double e1
Definition LinearBatteryPlugin.hh:73
double tau
Current low-pass filter characteristic time in seconds.
Definition LinearBatteryPlugin.hh:85
double q0
Initial battery charge in Ah.
Definition LinearBatteryPlugin.hh:76
A plugin with access to physics::Model.
Definition Plugin.hh:304
std::shared_ptr< Battery > BatteryPtr
Definition CommonTypes.hh:125
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27