A plugin that simulates a linear battery. More...

#include <LinearBatteryPlugin.hh>

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	LinearBatteryPlugin ()
	Constructor. More...

std::string	GetFilename () const
	Get the name of the handler. More...

std::string	GetHandle () const
	Get the short name of the handler. More...

PluginType	GetType () const
	Returns the type of the plugin. More...

virtual void	Init ()
	Override this method for custom plugin initialization behavior. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load function. More...

virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

Protected Attributes
common::BatteryPtr	battery
	Pointer to battery contained in link. More...

double	c
	Battery capacity in Ah. More...

double	e0
	Open-circuit voltage. More...

double	e1

std::string	filename
	Path to the shared library file. More...

std::string	handleName
	Short name. More...

double	iraw
	Raw battery current in A. More...

double	ismooth
	Smoothed battery current in A. More...

physics::LinkPtr	link
	Pointer to link containing battery link. More...

physics::ModelPtr	model
	Pointer to model containing plugin. More...

physics::PhysicsEnginePtr	physics
	Pointer to physics engine. More...

double	q
	Instantaneous battery charge in Ah. More...

double	q0
	Initial battery charge in Ah. More...

double	r
	Battery inner resistance in Ohm. More...

sdf::ElementPtr	sdf
	SDF for this plugin;. More...

double	tau
	Current low-pass filter characteristic time in seconds. More...

PluginType	type
	Type of plugin. More...

event::ConnectionPtr	updateConnection
	Connection to World Update events. More...

physics::WorldPtr	world
	Pointer to world. More...

Detailed Description

A plugin that simulates a linear battery.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ LinearBatteryPlugin()

LinearBatteryPlugin ( )

Constructor.

Member Function Documentation

◆ Create()

static TPtr Create	(	const std::string &	_filename,
		const std::string &	_name
	)

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns: Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

virtual void Init ( )

virtual

Override this method for custom plugin initialization behavior.

Reimplemented from ModelPlugin.

◆ Load()

virtual void Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam	(	const sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		V &	_target,
		V	_defaultValue = `V()`
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam	(	sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		std::string &	_target,
		const char *	_defaultValue
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

◆ Reset()

virtual void Reset ( )

virtual

Override this method for custom plugin reset behavior.

Reimplemented from ModelPlugin.

Member Data Documentation

◆ battery

common::BatteryPtr battery

protected

Pointer to battery contained in link.

◆ c

double c

protected

Battery capacity in Ah.

◆ e0

double e0

protected

Open-circuit voltage.

E(t) = e0 + e1 * Q(t) / c

◆ e1

double e1

protected

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ iraw

double iraw

protected

Raw battery current in A.

◆ ismooth

double ismooth

protected

Smoothed battery current in A.

◆ link

physics::LinkPtr link

protected

Pointer to link containing battery link.

◆ model

physics::ModelPtr model

protected

Pointer to model containing plugin.

◆ physics

physics::PhysicsEnginePtr physics

protected

Pointer to physics engine.

◆ q

double q

protected

Instantaneous battery charge in Ah.

◆ q0

double q0

protected

Initial battery charge in Ah.

◆ r

double r

protected

Battery inner resistance in Ohm.

◆ sdf

sdf::ElementPtr sdf

protected

SDF for this plugin;.

◆ tau

double tau

protected

Current low-pass filter characteristic time in seconds.

◆ type

PluginType type

protectedinherited

Type of plugin.

◆ updateConnection

event::ConnectionPtr updateConnection

protected

Connection to World Update events.

◆ world

physics::WorldPtr world

protected

Pointer to world.

The documentation for this class was generated from the following file:

LinearBatteryPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ LinearBatteryPlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ Reset()

Member Data Documentation

◆ battery

◆ c

◆ e0

◆ e1

◆ filename

◆ handleName

◆ iraw

◆ ismooth

◆ link

◆ model

◆ physics

◆ q

◆ q0

◆ r

◆ sdf

◆ tau

◆ type

◆ updateConnection

◆ world