A battery abstraction. More...

#include <Battery.hh>

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

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

	Battery (const Battery &_battery)
	Copy constructor. More...

	Battery (const std::string &_name, const double _voltage)
	Constructor that sets the name and initial voltage. More...

virtual	~Battery ()
	Destructor. More...

uint32_t	AddConsumer ()
	Create a unique consumer. More...

virtual void	Init ()
	Initialize. More...

double	InitVoltage () const
	Return the initial voltage. More...

std::string	Name () const
	Return the name of the battery. More...

bool	operator!= (const Battery &_battery) const
	Inequality operator. More...

Battery &	operator= (const Battery &_battery)
	Assignment operator. More...

bool	operator== (const Battery &_battery) const
	Equal to operator. 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...

void	ResetUpdateFunc ()
	Reset function to update voltage, upon destruction of current callback function. More...

virtual void	ResetVoltage ()
	Reset the battery voltage to the initial value. The initial value might have been loaded from an sdf element. More...

virtual void	SetInitVoltage (const double _voltage)
	Set the initial voltage. More...

void	SetName (const std::string &_name) const
	Set the name of the battery. More...

bool	SetPowerLoad (const uint32_t _consumerId, const double _powerLoad)
	Set consumer power load in watts. More...

void	SetUpdateFunc (std::function< double(Battery *)> _updateFunc)
	Setup function to update voltage. More...

void	Update ()
	Update the battery. This will in turn trigger the function set using the SetUpdateFunc function. 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

◆ PowerLoad_M

typedef std::map<uint32_t, double> PowerLoad_M

Typedef the powerload map.

See also: SetUpdateFunc

Constructor & Destructor Documentation

◆ Battery() [1/3]

Battery ( )

explicit

Constructor.

◆ Battery() [2/3]

Battery	(	const std::string &	_name,
		const double	_voltage
	)

Constructor that sets the name and initial voltage.

Parameters

[in]	_name	Name of the battery
[in]	_voltage	Initial voltage of the battery

◆ Battery() [3/3]

Battery ( const Battery & _battery )

Copy constructor.

Parameters

[in] _battery Battery to copy.

◆ ~Battery()

virtual ~Battery ( )

virtual

Destructor.

Member Function Documentation

◆ AddConsumer()

uint32_t AddConsumer ( )

Create a unique consumer.

Returns: Unique consumer identifier.

◆ Init()

virtual void Init ( )

virtual

Initialize.

◆ InitConsumers()

void InitConsumers ( )

protected

Initialize the list of consumers.

◆ InitVoltage()

double InitVoltage ( ) const

Return the initial voltage.

Returns: The initial voltage.

◆ Name()

std::string Name ( ) const

Return the name of the battery.

Returns: The name of the battery.

◆ operator!=()

bool operator!= ( const Battery & _battery ) const

Inequality operator.

Parameters

[in] _battery the battery to compare to

Returns: true if names or initial voltages are not the same, false otherwise

◆ operator=()

Battery& operator= ( const Battery & _battery )

Assignment operator.

Parameters

[in] _battery The new battery

Returns: a reference to this instance

◆ operator==()

bool operator== ( const Battery & _battery ) const

Equal to operator.

Parameters

[in] _battery the battery to compare to

Returns: true if names and initial voltages are the same, false otherwise

◆ PowerLoad()

bool 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.

◆ PowerLoads()

const PowerLoad_M& PowerLoads ( ) const

Get list of power loads in watts.

Returns: List of power loads in watts.

◆ RemoveConsumer()

bool 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.

◆ ResetUpdateFunc()

void ResetUpdateFunc ( )

Reset function to update voltage, upon destruction of current callback function.

See also: UpdateDefault

◆ ResetVoltage()

virtual void ResetVoltage ( )

virtual

Reset the battery voltage to the initial value. The initial value might have been loaded from an sdf element.

See also: Load

◆ SetInitVoltage()

virtual void SetInitVoltage ( const double _voltage )

virtual

Set the initial voltage.

Parameters

[in] _voltage Initial voltage.

◆ SetName()

void SetName ( const std::string & _name ) const

Set the name of the battery.

Parameters

[in] _name Name of the battery.

◆ SetPowerLoad()

bool 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.

◆ SetUpdateFunc()

void SetUpdateFunc ( std::function< double(Battery *)> _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

◆ Update()

void Update ( )

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

See also: SetUpdateFunc.

◆ Voltage()

double Voltage ( ) const

Get the real voltage in volts.

Returns: Voltage.

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

gz/common/Battery.hh

Gazebo Common

API Reference

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ PowerLoad_M

Constructor & Destructor Documentation

◆ Battery() [1/3]

◆ Battery() [2/3]

◆ Battery() [3/3]

◆ ~Battery()

Member Function Documentation

◆ AddConsumer()

◆ Init()

◆ InitConsumers()

◆ InitVoltage()

◆ Name()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ PowerLoad()

◆ PowerLoads()

◆ RemoveConsumer()

◆ ResetUpdateFunc()

◆ ResetVoltage()

◆ SetInitVoltage()

◆ SetName()

◆ SetPowerLoad()

◆ SetUpdateFunc()

◆ Update()

◆ Voltage()