Class SimpleMotionPowerSink¶
Defined in File SimpleMotionPowerSink.hpp
Inheritance Relationships¶
Base Type¶
public rmf_battery::MotionPowerSink
(Class MotionPowerSink)
Class Documentation¶
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class
rmf_battery::agv
::
SimpleMotionPowerSink
: public rmf_battery::MotionPowerSink¶ Public Functions
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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
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const BatterySystem &
battery_system
() const¶ Get a constant reference to the battery system.
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const MechanicalSystem &
mechanical_system
() const¶ Get a constant reference to the mechanical system.
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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
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