ppovb5fc7/gazebo/plugins/LinearBatteryPlugin.hh

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