Battery.hh
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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
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8 * http://www.apache.org/licenses/LICENSE-2.0
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16*/
17#ifndef _GAZEBO_BATTERY_HH_
18#define _GAZEBO_BATTERY_HH_
19
20#include <map>
21#include <string>
22#include <functional>
23#include <memory>
24
25#include "sdf/sdf.hh"
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace common
32 {
33 // Forward declare private data class.
34 class BatteryPrivate;
35
38
49 class GZ_COMMON_VISIBLE Battery :
50 public std::enable_shared_from_this<Battery>
51 {
54 public: typedef std::map<uint32_t, double> PowerLoad_M;
55
57 public: explicit Battery();
58
60 public: virtual ~Battery();
61
64 public: virtual void Load(sdf::ElementPtr _sdf);
65
67 public: virtual void Init();
68
72 public: virtual void ResetVoltage();
73
76 public: virtual void UpdateParameters(const sdf::ElementPtr _sdf);
77
80 public: std::string Name() const;
81
84 public: uint32_t AddConsumer();
85
90 public: bool RemoveConsumer(const uint32_t _consumerId);
91
96 public: bool SetPowerLoad(const uint32_t _consumerId,
97 const double _powerLoad);
98
103 public: bool PowerLoad(const uint32_t _consumerId,
104 double &_powerLoad) const;
105
108 public: const PowerLoad_M &PowerLoads() const;
109
112 public: double Voltage() const;
113
121 public: void SetUpdateFunc(
122 std::function<double (const BatteryPtr &)> _updateFunc);
123
127 public: void Update();
128
130 protected: void InitConsumers();
131
135 private: double UpdateDefault(const BatteryPtr &_battery);
136
139 private: BatteryPrivate *dataPtr;
140 };
142 }
143}
144#endif
common
Definition FuelModelDatabase.hh:37
A battery abstraction.
Definition Battery.hh:51
void InitConsumers()
Initialize the list of consumers.
const PowerLoad_M & PowerLoads() const
Get list of power loads in watts.
virtual void Init()
Initialize.
std::string Name() const
Return the name of the battery.
virtual void ResetVoltage()
Reset the battery voltage to the initial value.
std::map< uint32_t, double > PowerLoad_M
Typedef the powerload map.
Definition Battery.hh:54
bool SetPowerLoad(const uint32_t _consumerId, const double _powerLoad)
Set consumer power load in watts.
void SetUpdateFunc(std::function< double(const BatteryPtr &)> _updateFunc)
Setup function to update voltage.
bool PowerLoad(const uint32_t _consumerId, double &_powerLoad) const
Get consumer power load in watts.
virtual ~Battery()
Destructor.
double Voltage() const
Get the real voltage in volts.
virtual void Load(sdf::ElementPtr _sdf)
Load the battery.
bool RemoveConsumer(const uint32_t _consumerId)
Remove a consumer.
void Update()
Update the battery.
virtual void UpdateParameters(const sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
uint32_t AddConsumer()
Create a unique consumer.
std::shared_ptr< Battery > BatteryPtr
Definition CommonTypes.hh:125
Forward declarations for the common classes.
Definition Animation.hh:27