gazebo::LinearBatteryPlugin Class Reference

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

#include <LinearBatteryPlugin.hh>

Inheritance diagram for gazebo::LinearBatteryPlugin:

Public Member Functions
	LinearBatteryPlugin ()
	Constructor. 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...
Public Member Functions inherited from gazebo::ModelPlugin
	ModelPlugin ()
	Constructor. More...
virtual	~ModelPlugin ()
	Destructor. More...
Public Member Functions inherited from gazebo::PluginT< ModelPlugin >
	PluginT ()
	Constructor. More...
virtual	~PluginT ()
	Destructor. 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...

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
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...
event::ConnectionPtr	updateConnection
	Connection to World Update events. More...
physics::WorldPtr	world
	Pointer to world. More...
Protected Attributes inherited from gazebo::PluginT< ModelPlugin >
std::string	filename
	Path to the shared library file. More...
std::string	handleName
	Short name. More...
PluginType	type
	Type of plugin. More...

Additional Inherited Members
Public Types inherited from gazebo::PluginT< ModelPlugin >
typedef boost::shared_ptr < ModelPlugin >	TPtr
	plugin pointer type definition More...
Static Public Member Functions inherited from gazebo::PluginT< ModelPlugin >
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Detailed Description

A plugin that simulates a linear battery.

Constructor & Destructor Documentation

gazebo::LinearBatteryPlugin::LinearBatteryPlugin

(

)

Constructor.

Member Function Documentation

virtual void gazebo::LinearBatteryPlugin::Init ( )

virtual

Override this method for custom plugin initialization behavior.

Reimplemented from gazebo::ModelPlugin.

virtual void gazebo::LinearBatteryPlugin::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 gazebo::ModelPlugin.

virtual void gazebo::LinearBatteryPlugin::Reset ( )

virtual

Override this method for custom plugin reset behavior.

Reimplemented from gazebo::ModelPlugin.

Member Data Documentation

common::BatteryPtr gazebo::LinearBatteryPlugin::battery

protected

Pointer to battery contained in link.

double gazebo::LinearBatteryPlugin::c

protected

Battery capacity in Ah.

double gazebo::LinearBatteryPlugin::e0

protected

Open-circuit voltage.

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

double gazebo::LinearBatteryPlugin::e1

protected

double gazebo::LinearBatteryPlugin::iraw

protected

Raw battery current in A.

double gazebo::LinearBatteryPlugin::ismooth

protected

Smoothed battery current in A.

physics::LinkPtr gazebo::LinearBatteryPlugin::link

protected

Pointer to link containing battery link.

physics::ModelPtr gazebo::LinearBatteryPlugin::model

protected

Pointer to model containing plugin.

physics::PhysicsEnginePtr gazebo::LinearBatteryPlugin::physics

protected

Pointer to physics engine.

double gazebo::LinearBatteryPlugin::q

protected

Instantaneous battery charge in Ah.

double gazebo::LinearBatteryPlugin::q0

protected

Initial battery charge in Ah.

double gazebo::LinearBatteryPlugin::r

protected

Battery inner resistance in Ohm.

sdf::ElementPtr gazebo::LinearBatteryPlugin::sdf

protected

SDF for this plugin;.

double gazebo::LinearBatteryPlugin::tau

protected

Current low-pass filter characteristic time in seconds.

event::ConnectionPtr gazebo::LinearBatteryPlugin::updateConnection

protected

Connection to World Update events.

physics::WorldPtr gazebo::LinearBatteryPlugin::world

protected

Pointer to world.

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

• LinearBatteryPlugin.hh