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...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...

Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...

constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. More...

Detailed Description

A plugin for simulating battery usage.

System 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 Gazebo 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/gazebosim/gz-sim/issues/225.
<start_drainign> Whether to start draining the battery right away. False by default.
<power_draining_topic> A topic that is used to start battery discharge. Any message on the specified topic will cause the battery to start draining. This element can be specified multiple times if multiple topics should be monitored. Note that this mechanism will start the battery draining, and once started will keep drainig.
<stop_power_draining_topic> A topic that is used to stop battery discharge. Any message on the specified topic will cause the battery to stop draining.

Constructor & Destructor Documentation

◆ LinearBatteryPlugin()

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]	_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.