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