Battery.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_BATTERY_HH_
#define _GAZEBO_BATTERY_HH_

#include <map>
#include <string>
#include <functional>
#include <memory>

#include "sdf/sdf.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    // Forward declare private data class.
    class BatteryPrivate;


    class GZ_COMMON_VISIBLE Battery :
      public std::enable_shared_from_this<Battery>
    {
      public: typedef std::map<uint32_t, double> PowerLoad_M;

      public: explicit Battery();

      public: virtual ~Battery();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: virtual void ResetVoltage();

      public: virtual void UpdateParameters(const sdf::ElementPtr _sdf);

      public: std::string Name() const;

      public: uint32_t AddConsumer();

      public: bool RemoveConsumer(const uint32_t _consumerId);

      public: bool SetPowerLoad(const uint32_t _consumerId,
                                const double _powerLoad);

      public: bool PowerLoad(const uint32_t _consumerId,
                             double &_powerLoad) const;

      public: const PowerLoad_M &PowerLoads() const;

      public: double Voltage() const;

      public: void SetUpdateFunc(
                  std::function<double (const BatteryPtr &)> _updateFunc);

      public: void Update();

      protected: void InitConsumers();

      private: double UpdateDefault(const BatteryPtr &_battery);

      private: BatteryPrivate *dataPtr;
    };
  }
}
#endif