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power_state_estimator.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef POWER_MONITOR_POWER_STATE_ESTIMATOR_H
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#define POWER_MONITOR_POWER_STATE_ESTIMATOR_H
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#include <stdlib.h>
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#include "
ros/ros.h
"
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#include "
observation.h
"
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namespace
power_monitor
{
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struct
PowerStateEstimate
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{
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ros::Duration
time_remaining
;
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unsigned
int
relative_capacity
;
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};
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class
PowerStateEstimator
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{
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public
:
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enum
Type
{ FuelGauge, Advanced };
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PowerStateEstimator
();
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virtual
std::string getMethodName()
const
= 0;
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virtual
PowerStateEstimator::Type
getMethodType()
const
= 0;
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virtual
PowerStateEstimate
estimate(
const
ros::Time
& t) = 0;
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virtual
void
recordObservation(
const
PowerObservation
& obs);
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virtual
bool
canEstimate(
const
ros::Time
& t)
const
;
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protected
:
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PowerObservation
obs_
;
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};
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class
FuelGaugePowerStateEstimator
:
public
PowerStateEstimator
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{
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public
:
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std::string getMethodName()
const
;
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PowerStateEstimator::Type
getMethodType()
const
;
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PowerStateEstimate
estimate(
const
ros::Time
& t);
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};
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class
AdvancedPowerStateEstimator
:
public
PowerStateEstimator
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{
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public
:
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struct
LogRecord
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{
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uint32_t
sec
;
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int8_t
master_state
;
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int
charging
;
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float
total_power
;
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float
min_voltage
;
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unsigned
int
min_relative_state_of_charge
;
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float
total_remaining_capacity
;
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};
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AdvancedPowerStateEstimator
();
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std::string getMethodName()
const
;
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PowerStateEstimator::Type
getMethodType()
const
;
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PowerStateEstimate
estimate(
const
ros::Time
& t);
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virtual
void
recordObservation(
const
PowerObservation
& obs);
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private
:
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static
const
std::string
DEFAULT_LOG_FILE
;
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static
void
tokenize(
const
std::string& str, std::vector<std::string>& tokens,
const
std::string& delimiters=
","
);
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bool
readObservations(std::vector<LogRecord>& log);
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bool
saveObservation(
const
PowerObservation
& obs)
const
;
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bool
hasEverDischarged()
const
;
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std::vector<LogRecord>
log_
;
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std::string
log_filename_
;
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};
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}
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#endif
/* POWER_MONITOR_POWER_STATE_ESTIMATOR_H */
power_monitor::AdvancedPowerStateEstimator::LogRecord
Definition:
power_state_estimator.h:90
power_monitor::PowerStateEstimate::time_remaining
ros::Duration time_remaining
Definition:
power_state_estimator.h:48
ros::Time
power_monitor::PowerStateEstimate::relative_capacity
unsigned int relative_capacity
Definition:
power_state_estimator.h:49
power_monitor::PowerStateEstimator::obs_
PowerObservation obs_
Definition:
power_state_estimator.h:71
power_monitor::AdvancedPowerStateEstimator::LogRecord::total_remaining_capacity
float total_remaining_capacity
Definition:
power_state_estimator.h:98
power_monitor::PowerStateEstimator::Type
Type
Definition:
power_state_estimator.h:58
power_monitor::AdvancedPowerStateEstimator::LogRecord::min_relative_state_of_charge
unsigned int min_relative_state_of_charge
Definition:
power_state_estimator.h:97
power_monitor::PowerStateEstimate
Definition:
power_state_estimator.h:46
power_monitor::AdvancedPowerStateEstimator::LogRecord::charging
int charging
Definition:
power_state_estimator.h:94
power_monitor::AdvancedPowerStateEstimator::LogRecord::sec
uint32_t sec
Definition:
power_state_estimator.h:92
power_monitor::AdvancedPowerStateEstimator::LogRecord::master_state
int8_t master_state
Definition:
power_state_estimator.h:93
power_monitor
Definition:
observation.h:44
power_monitor::AdvancedPowerStateEstimator
Definition:
power_state_estimator.h:87
power_monitor::PowerStateEstimator
Definition:
power_state_estimator.h:55
power_monitor::AdvancedPowerStateEstimator::log_filename_
std::string log_filename_
Definition:
power_state_estimator.h:120
observation.h
power_monitor::FuelGaugePowerStateEstimator
Definition:
power_state_estimator.h:77
ros.h
ros::Duration
power_monitor::PowerObservation
Definition:
observation.h:51
power_monitor::AdvancedPowerStateEstimator::LogRecord::total_power
float total_power
Definition:
power_state_estimator.h:95
power_monitor::AdvancedPowerStateEstimator::log_
std::vector< LogRecord > log_
Definition:
power_state_estimator.h:118
power_monitor::AdvancedPowerStateEstimator::DEFAULT_LOG_FILE
static const std::string DEFAULT_LOG_FILE
Definition:
power_state_estimator.h:110
power_monitor::AdvancedPowerStateEstimator::LogRecord::min_voltage
float min_voltage
Definition:
power_state_estimator.h:96
power_monitor
Author(s): Tim Field, Curt Meyers
autogenerated on Fri May 14 2021 02:50:05