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 ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
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()
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override |
Destructor.
Member Function Documentation
◆ Configure()
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finalvirtual |
Configure the system.
- Parameters
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[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PostUpdate()
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overridevirtual |
Documentation inherited.
Implements ISystemPostUpdate.
◆ PreUpdate()
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overridevirtual |
Documentation inherited.
Implements ISystemPreUpdate.
◆ Update()
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finalvirtual |
Documentation inherited.
Implements ISystemUpdate.
The documentation for this class was generated from the following file: