Ignition Gazebo

API Reference

3.7.0
LinearBatteryPlugin Class Reference

A plugin for simulating battery usage. More...

#include <LinearBatteryPlugin.hh>

Public Member Functions

 LinearBatteryPlugin ()
 Constructor. More...
 
 ~LinearBatteryPlugin () override
 Destructor. More...
 
void Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
 Configure the system. More...
 
void PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
 Documentation inherited. More...
 
void PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
 Documentation inherited. More...
 
void Update (const UpdateInfo &_info, EntityComponentManager &_ecm) final
 Documentation inherited. More...
 
- Public Member Functions inherited from System
 System ()
 Constructor. More...
 
virtual ~System ()
 Destructor. More...
 

Detailed Description

A plugin for simulating battery usage.

This system processes the following sdf parameters: <battery_name> name of the battery (required) <voltage> Initial voltage of the battery (required) <open_circuit_voltage_constant_coef> Voltage at full charge <open_circuit_voltage_linear_coef> Amount of voltage decrease when no charge <initial_charge> Initial charge of the battery (Ah) <capacity> Total charge that the battery can hold (Ah) <resistance> Internal resistance (Ohm) <smooth_current_tau> coefficient for smoothing current [0, 1]. <power_load> power load on battery (required) (Watts) <enable_recharge> If true, the battery can be recharged <recharge_by_topic> If true, the start/stop signals for recharging the battery will also be available via topics. The regular Ignition services will still be available. <charging_time> Hours taken to fully charge the battery. (Required if <enable_recharge> is set to true) <fix_issue_225> True to change the battery behavior to fix some issues described in https://github.com/ignitionrobotics/ign-gazebo/issues/225.

Constructor & Destructor Documentation

◆ LinearBatteryPlugin()

Constructor.

◆ ~LinearBatteryPlugin()

~LinearBatteryPlugin ( )
override

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
finalvirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PostUpdate()

void PostUpdate ( const UpdateInfo _info,
const EntityComponentManager _ecm 
)
overridevirtual

Documentation inherited.

Implements ISystemPostUpdate.

◆ PreUpdate()

void PreUpdate ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
overridevirtual

Documentation inherited.

Implements ISystemPreUpdate.

◆ Update()

void Update ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
finalvirtual

Documentation inherited.

Implements ISystemUpdate.


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