rmf_battery¶

A package for managing batteries in OpenRMF.

rmf_battery API¶

Class Hierarchy¶

- Namespace rmf_battery
  - Namespace rmf_battery::agv
    - Class BatterySystem
    - Class MechanicalSystem
    - Class PowerSystem
    - Class SimpleDevicePowerSink
    - Class SimpleMotionPowerSink
  - Class DevicePowerSink
  - Class MotionPowerSink

File Hierarchy¶

- File BatterySystem.hpp
- File DevicePowerSink.hpp
- File MechanicalSystem.hpp
- File MotionPowerSink.hpp
- File PowerSystem.hpp
- File SimpleDevicePowerSink.hpp
- File SimpleMotionPowerSink.hpp

Full API¶

Namespaces¶

Namespace rmf_battery¶

Contents

Namespaces
Classes
Typedefs

Namespaces¶

Namespace rmf_battery::agv

Classes¶

Typedefs¶

Namespace rmf_battery::agv¶

Contents

Classes
Typedefs

Classes¶

Typedefs¶

Classes and Structs¶

Class BatterySystem¶

Defined in File BatterySystem.hpp

Class Documentation¶

class rmf_battery::agv::BatterySystem¶

Public Functions

double nominal_voltage() const¶: Get the nominal voltage of this battery system.

double capacity() const¶: Get the capacity of this battery system.

double charging_current() const¶: Get the charging current of this battery system.

Public Static Functions

static std::optional<BatterySystem> make(double nominal_voltage, double capacity, double charging_current)¶

Returns a BatterySystem object if valid values were supplied for the various fields else returns std::nullopt. Here valid implies that the values are greater than zero.

Parameters

[in] nominal_voltage: The nominal voltage of the battery in Volts
[in] capacity: The nominal capacity of the battery in Ampere-hours
[in] charging_current: The rated current in Amperes for charging the battery

Class MechanicalSystem¶

Defined in File MechanicalSystem.hpp

Class Documentation¶

class rmf_battery::agv::MechanicalSystem¶

Public Functions

double mass() const¶: Get the mass of this mechanical system.

double moment_of_inertia() const¶: Get the moment of inertia of this mechanical system.

double friction_coefficient() const¶: Get the friction coefficient of this mechanical system.

Public Static Functions

static std::optional<MechanicalSystem> make(double mass, double moment_of_inertia, double friction_coefficient)¶

Returns a MechanicalSystem object if valid values were supplied for the various fields else returns std::nullopt. Here valid implies that the values are greater than zero.

Parameters

[in] mass: The mass of the robot in Kilograms(kg)
[in] moment_of_inertia: The moment of inertia of the robot along its yaw axis in kg.m^2
[in] friction_coefficient: The coefficient of kinetic friction or rolling resistance coefficient measured at the wheels of the robot. This value is used to compute the energy loss due to rotation of the vehicle’s wheels during locomotion. This value is the dimensionless constant Crr as described in the reference below. Ref: https://en.wikipedia.org/wiki/Rolling_resistance#Rolling_resistance_coefficient

Class PowerSystem¶

Defined in File PowerSystem.hpp

Class Documentation¶

class rmf_battery::agv::PowerSystem¶

Public Functions

double nominal_power() const¶: Get the nominal power of this power system.

Public Static Functions

static std::optional<PowerSystem> make(double nominal_power)¶

Returns a PowerSystem object if valid values were supplied for the various fields else returns std::nullopt. Here valid implies that the values are greater than zero.

Parameters

[in] nominal_power: The rated nominal power consumption in Watts for this power system

Class SimpleDevicePowerSink¶

Defined in File SimpleDevicePowerSink.hpp

Inheritance Relationships¶

Base Type¶

public rmf_battery::DevicePowerSink (Class DevicePowerSink)

Class Documentation¶

class rmf_battery::agv::SimpleDevicePowerSink : public rmf_battery::DevicePowerSink ¶

Public Functions

SimpleDevicePowerSink(const BatterySystem &battery_system, const PowerSystem &power_system)¶

Constructor

Parameters

[in] battery_system: The BatterySystem of the robot
[in] power_system: The PowerSystem for this device

const BatterySystem &battery_system() const¶: Get a constant reference to the battery system.

const PowerSystem &power_system() const¶: Get a constant reference to the power system.

virtual double compute_change_in_charge(const double run_time) const final¶

Compute change in state-of-charge of the battery due to an onboard device over a time period.

Return

The charge depleted as a fraction of the total battery capacity

Parameters

[in] run_time: The duration in seconds over which the power system drains charge from the battery

Class SimpleMotionPowerSink¶

Defined in File SimpleMotionPowerSink.hpp

Inheritance Relationships¶

Base Type¶

public rmf_battery::MotionPowerSink (Class MotionPowerSink)

Class Documentation¶

class rmf_battery::agv::SimpleMotionPowerSink : public rmf_battery::MotionPowerSink ¶

Public Functions

SimpleMotionPowerSink(const BatterySystem &battery_system, const MechanicalSystem &mechanical_system)¶

Constructor

Parameters

[in] battery_system: The BatterySystem of the robot
[in] mechanical_system: The MechanicalSystem of the robot

const BatterySystem &battery_system() const¶: Get a constant reference to the battery system.

const MechanicalSystem &mechanical_system() const¶: Get a constant reference to the mechanical system.

virtual double compute_change_in_charge(const rmf_traffic::Trajectory &trajectory) const final¶

Compute change in state-of-charge estimate of battery due to locomotion of the robot along a trajectory.

Return

The charge depleted as a fraction of the total battery capacity

Parameters

[in] trajectory: A valid rmf_traffic:::Trajectory over which the change in charge has to to be computed

Class DevicePowerSink¶

Defined in File DevicePowerSink.hpp

Inheritance Relationships¶

Derived Type¶

public rmf_battery::agv::SimpleDevicePowerSink (Class SimpleDevicePowerSink)

Class Documentation¶

class rmf_battery::DevicePowerSink¶

Subclassed by rmf_battery::agv::SimpleDevicePowerSink

Public Functions

virtual double compute_change_in_charge(const double run_time) const = 0¶

Compute change in state-of-charge of the battery due to an onboard device over a time period.

Return

The charge depleted as a fraction of the total battery capacity

Parameters

[in] run_time: The duration in seconds over which the power system drains charge from the battery

virtual ~DevicePowerSink() = default¶

Class MotionPowerSink¶

Defined in File MotionPowerSink.hpp

Inheritance Relationships¶

Derived Type¶

public rmf_battery::agv::SimpleMotionPowerSink (Class SimpleMotionPowerSink)

Class Documentation¶

class rmf_battery::MotionPowerSink¶

Subclassed by rmf_battery::agv::SimpleMotionPowerSink

Public Functions

virtual double compute_change_in_charge(const rmf_traffic::Trajectory &trajectory) const = 0¶

Compute change in state-of-charge of the battery due to locomotion of the robot along a trajectory.

Return

The charge depleted as a fraction of the total battery capacity

Parameters

[in] trajectory: A valid rmf_traffic:::Trajectory over which the change in charge has to to be computed

virtual ~MotionPowerSink() = default¶

Typedefs¶

Typedef rmf_battery::agv::BatterySystemPtr¶

Defined in File BatterySystem.hpp

Typedef Documentation¶

using rmf_battery::agv::BatterySystemPtr = std::shared_ptr<BatterySystem>¶

Typedef rmf_battery::agv::ConstBatterySystemPtr¶

Defined in File BatterySystem.hpp

Typedef Documentation¶

using rmf_battery::agv::ConstBatterySystemPtr = std::shared_ptr<const BatterySystem>¶

Typedef rmf_battery::agv::ConstMechanicalSystemPtr¶

Defined in File MechanicalSystem.hpp

Typedef Documentation¶

using rmf_battery::agv::ConstMechanicalSystemPtr = std::shared_ptr<const MechanicalSystem>¶

Typedef rmf_battery::agv::ConstPowerSystemPtr¶

Defined in File PowerSystem.hpp

Typedef Documentation¶

using rmf_battery::agv::ConstPowerSystemPtr = std::shared_ptr<const PowerSystem>¶

Typedef rmf_battery::agv::MechanicalSystemPtr¶

Defined in File MechanicalSystem.hpp

Typedef Documentation¶

using rmf_battery::agv::MechanicalSystemPtr = std::shared_ptr<MechanicalSystem>¶

Typedef rmf_battery::agv::PowerSystemPtr¶

Defined in File PowerSystem.hpp

Typedef Documentation¶

using rmf_battery::agv::PowerSystemPtr = std::shared_ptr<PowerSystem>¶

Typedef rmf_battery::ConstDevicePowerSinkPtr¶

Defined in File DevicePowerSink.hpp

Typedef Documentation¶

using rmf_battery::ConstDevicePowerSinkPtr = std::shared_ptr<const DevicePowerSink>¶

Typedef rmf_battery::ConstMotionPowerSinkPtr¶

Defined in File MotionPowerSink.hpp

Typedef Documentation¶

using rmf_battery::ConstMotionPowerSinkPtr = std::shared_ptr<const MotionPowerSink>¶

Typedef rmf_battery::DevicePowerSinkPtr¶

Defined in File DevicePowerSink.hpp

Typedef Documentation¶

using rmf_battery::DevicePowerSinkPtr = std::shared_ptr<DevicePowerSink>¶

Typedef rmf_battery::MotionPowerSinkPtr¶

Defined in File MotionPowerSink.hpp

Typedef Documentation¶

using rmf_battery::MotionPowerSinkPtr = std::shared_ptr<MotionPowerSink>¶