gazebo::common::Battery Class Reference

A battery abstraction. More...

#include <Battery.hh>

Inheritance diagram for gazebo::common::Battery:

Public Types
typedef std::map< uint32_t, double >	PowerLoad_M
	Typedef the powerload map. More...

Public Member Functions
	Battery ()
	Constructor. More...
virtual	~Battery ()
	Destructor. More...
uint32_t	AddConsumer ()
	Create a unique consumer. More...
virtual void	Init ()
	Initialize. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load the battery. More...
std::string	Name () const
	Return the name of the battery. More...
bool	PowerLoad (const uint32_t _consumerId, double &_powerLoad) const
	Get consumer power load in watts. More...
const PowerLoad_M &	PowerLoads () const
	Get list of power loads in watts. More...
bool	RemoveConsumer (const uint32_t _consumerId)
	Remove a consumer. More...
bool	SetPowerLoad (const uint32_t _consumerId, const double _powerLoad)
	Set consumer power load in watts. More...
void	SetUpdateFunc (std::function< double(const BatteryPtr &)> _updateFunc)
	Setup function to update voltage. More...
void	Update ()
	Update the battery. More...
virtual void	UpdateParameters (const sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...
double	Voltage () const
	Get the real voltage in volts. More...

Protected Member Functions
void	InitConsumers ()
	Initialize the list of consumers. More...

Detailed Description

A battery abstraction.

The default battery model is ideal: It just takes the initial voltage value as its constant voltage value. This behavior can be changed by specifying a custom update function.

The battery handles a list of consumers. It updates itself after each simulation iteration. The update function takes the power loads for each consumer and current voltage value as inputs and returns a new voltage value.

Member Typedef Documentation

typedef std::map<uint32_t, double> gazebo::common::Battery::PowerLoad_M

Typedef the powerload map.

See Also

SetUpdateFunc

Constructor & Destructor Documentation

gazebo::common::Battery::Battery ( )

explicit

Constructor.

virtual gazebo::common::Battery::~Battery ( )

virtual

Destructor.

Member Function Documentation

uint32_t gazebo::common::Battery::AddConsumer

(

)

Create a unique consumer.

Returns

Unique consumer identifier.

virtual void gazebo::common::Battery::Init ( )

virtual

Initialize.

void gazebo::common::Battery::InitConsumers ( )

protected

Initialize the list of consumers.

virtual void gazebo::common::Battery::Load ( sdf::ElementPtr  _sdf )

virtual

Load the battery.

Parameters

[in]

_sdf

Shared point to an sdf element.

std::string gazebo::common::Battery::Name

(

)

const

Return the name of the battery.

Returns

The name of the battery.

bool gazebo::common::Battery::PowerLoad	(	const uint32_t	_consumerId,
		double &	_powerLoad
	)		const

Get consumer power load in watts.

Parameters

[in]	_consumerId	Unique consumer identifier.
[out]	_powerLoad	Power load consumption in watts.

Returns

True if getting the power load consumption was successful.

const PowerLoad_M& gazebo::common::Battery::PowerLoads

(

)

const

Get list of power loads in watts.

Returns

List of power loads in watts.

bool gazebo::common::Battery::RemoveConsumer

(

const uint32_t

_consumerId

)

Remove a consumer.

Parameters

[in]

_consumerId

Unique consumer identifier.

Returns

True if the consumer was removed. False if the consumer id was not found.

bool gazebo::common::Battery::SetPowerLoad	(	const uint32_t	_consumerId,
		const double	_powerLoad
	)

Set consumer power load in watts.

Parameters

[in]	_consumerId	Unique consumer identifier.
[in]	_powerLoad	Power load in watts.

Returns

True if setting the power load consumption was successful.

void gazebo::common::Battery::SetUpdateFunc

(

std::function< double(const BatteryPtr &)>

_updateFunc

)

Setup function to update voltage.

Parameters

[in]

_updateFunc

The update function callback that is used to modify the battery's voltage. The parameter to the update function callback is a reference to an instance of Battery::UpdateData. The update function must return the new battery voltage as a double.

See Also

UpdateData

void gazebo::common::Battery::Update

(

)

Update the battery.

This will in turn trigger the function set using the SetUpdateFunc function.

See Also

SetUpdateFunc.

virtual void gazebo::common::Battery::UpdateParameters ( const sdf::ElementPtr  _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in]

_sdf

SDF values to update from.

double gazebo::common::Battery::Voltage

(

)

const

Get the real voltage in volts.

Returns

Voltage.

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

• Battery.hh