Ignition Gazebo

API Reference

5.1.0
LinearBatteryPlugin.hh
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1 /*
2  * Copyright (C) 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef IGNITION_GAZEBO_SYSTEMS_LINEAR_BATTERY_PLUGIN_HH_
19 #define IGNITION_GAZEBO_SYSTEMS_LINEAR_BATTERY_PLUGIN_HH_
20 
21 #include <string>
22 #include <map>
23 #include <memory>
24 
26 
28 
29 namespace ignition
30 {
31 namespace gazebo
32 {
33 // Inline bracket to help doxygen filtering.
34 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
35 namespace systems
36 {
37  // Forward declaration
38  class LinearBatteryPluginPrivate;
39 
62  : public System,
63  public ISystemConfigure,
64  public ISystemPreUpdate,
65  public ISystemUpdate,
66  public ISystemPostUpdate
67  {
69  public: LinearBatteryPlugin();
70 
72  public: ~LinearBatteryPlugin() override;
73 
74  // Documentation inherited
75  public: void Configure(const Entity &_entity,
78  EventManager &_eventMgr) final;
79 
81  public: void PreUpdate(
82  const ignition::gazebo::UpdateInfo &_info,
84 
86  public: void Update(const UpdateInfo &_info,
87  EntityComponentManager &_ecm) final;
88 
90  public: void PostUpdate(
91  const UpdateInfo &_info,
92  const EntityComponentManager &_ecm) override;
93 
97  private: double OnUpdateVoltage(const common::Battery *_battery);
98 
101  };
102  }
103 }
104 }
105 }
106 
107 #endif
A plugin for simulating battery usage.
Definition: LinearBatteryPlugin.hh:61
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Interface for a system that uses the Update phase.
Definition: System.hh:112
Information passed to systems on the update callback.
Definition: Types.hh:36
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:65
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
Interface for a system that implements optional configuration.
Definition: System.hh:88
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73