LinearBatteryPlugin.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2015 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
18#define GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
19
20#include <string>
21#include <map>
22
25#include "gazebo/physics/physics.hh"
26
27namespace gazebo
28{
30 class GZ_PLUGIN_VISIBLE LinearBatteryPlugin : public ModelPlugin
31 {
34
35 // Documentation Inherited.
36 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
37
38 // Documentation Inherited.
39 public: virtual void Init();
40
41 // Documentation Inherited.
42 public: virtual void Reset();
43
47 private: double OnUpdateVoltage(const common::BatteryPtr &_battery);
48
51
54
57
60
63
66
68 protected: sdf::ElementPtr sdf;
69
72 protected: double e0;
73 protected: double e1;
74
76 protected: double q0;
77
79 protected: double c;
80
82 protected: double r;
83
85 protected: double tau;
86
88 protected: double iraw;
89
91 protected: double ismooth;
92
94 protected: double q;
95 };
96}
97#endif
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