98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_LINEAR_BATTERY_PLUGIN_HH_
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#define _GAZEBO_LINEAR_BATTERY_PLUGIN_HH_
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#include <string>
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#include <map>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/physics.hh"
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namespace gazebo
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{
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/// \brief A plugin that simulates a linear battery.
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class GAZEBO_VISIBLE LinearBatteryPlugin : public ModelPlugin
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{
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/// \brief Constructor.
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public: LinearBatteryPlugin();
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// Documentation Inherited.
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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// Documentation Inherited.
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public: virtual void Init();
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// Documentation Inherited.
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public: virtual void Reset();
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/// \brief Callback for Battery Update events.
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/// \param[in] _battery Pointer to the battery that is to be updated.
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/// \return The new voltage.
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private: double OnUpdateVoltage(const common::BatteryPtr &_battery);
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/// \brief Connection to World Update events.
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protected: event::ConnectionPtr updateConnection;
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/// \brief Pointer to world.
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protected: physics::WorldPtr world;
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/// \brief Pointer to physics engine.
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protected: physics::PhysicsEnginePtr physics;
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/// \brief Pointer to model containing plugin.
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protected: physics::ModelPtr model;
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/// \brief Pointer to link containing battery link.
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protected: physics::LinkPtr link;
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/// \brief Pointer to battery contained in link.
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protected: common::BatteryPtr battery;
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/// \brief SDF for this plugin;
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protected: sdf::ElementPtr sdf;
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/// \brief Open-circuit voltage.
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/// E(t) = e0 + e1 * Q(t) / c
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protected: double e0;
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protected: double e1;
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/// \brief Initial battery charge in Ah.
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protected: double q0;
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/// \brief Battery capacity in Ah.
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protected: double c;
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/// \brief Battery inner resistance in Ohm.
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protected: double r;
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/// \brief Current low-pass filter characteristic time in seconds.
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protected: double tau;
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/// \brief Raw battery current in A.
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protected: double iraw;
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/// \brief Smoothed battery current in A.
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protected: double ismooth;
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/// \brief Instantaneous battery charge in Ah.
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protected: double q;
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};
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}
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#endif
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