Gazebo Common
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5.7.0
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src
gz-common
include
gz
common
gz/common/Battery.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_COMMON_BATTERY_HH_
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#define GZ_COMMON_BATTERY_HH_
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#include <functional>
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#include <map>
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#include <memory>
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#include <string>
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#include <gz/common/Export.hh>
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#include <gz/utils/ImplPtr.hh>
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namespace
gz
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{
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namespace
common
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{
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class
GZ_COMMON_VISIBLE
Battery
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{
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public
:
typedef
std::map<uint32_t, double>
PowerLoad_M
;
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public
:
explicit
Battery
();
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public
:
Battery
(
const
std::string
&_name,
const
double
_voltage);
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public
:
Battery
(
const
Battery
&_battery);
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public
:
Battery
&operator=(
const
Battery
&_battery);
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public
:
Battery
(
Battery
&&_battery);
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public
:
Battery
&operator=(
Battery
&&_battery);
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public
:
virtual
~
Battery
() =
default
;
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public
:
bool
operator==
(
const
Battery
&_battery)
const
;
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public
:
bool
operator!=(
const
Battery
&_battery)
const
;
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public
:
virtual
void
Init();
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public
:
virtual
void
ResetVoltage();
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public
:
double
InitVoltage()
const
;
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public
:
virtual
void
SetInitVoltage(
const
double
_voltage);
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public
:
std::string
Name()
const
;
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public
:
void
SetName(
const
std::string
&_name)
const
;
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public
: uint32_t AddConsumer();
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public
:
bool
RemoveConsumer(
const
uint32_t _consumerId);
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public
:
bool
SetPowerLoad(
const
uint32_t _consumerId,
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const
double
_powerLoad);
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public
:
bool
PowerLoad(
const
uint32_t _consumerId,
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double
&_powerLoad)
const
;
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public
:
const
PowerLoad_M
&PowerLoads()
const
;
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public
:
double
Voltage()
const
;
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public
:
void
SetUpdateFunc(
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std::function
<
double
(
Battery
*)> _updateFunc);
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public
:
void
ResetUpdateFunc();
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public
:
void
Update();
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protected
:
void
InitConsumers();
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private
:
double
UpdateDefault(
Battery
*_battery);
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GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
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};
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typedef
std::shared_ptr<Battery>
BatteryPtr
;
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}
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}
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#endif