.. _program_listing_file__tmp_ws_src_rmf_battery_rmf_battery_include_rmf_battery_agv_SimpleMotionPowerSink.hpp:

Program Listing for File SimpleMotionPowerSink.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_battery_rmf_battery_include_rmf_battery_agv_SimpleMotionPowerSink.hpp>` (``/tmp/ws/src/rmf_battery/rmf_battery/include/rmf_battery/agv/SimpleMotionPowerSink.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 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 RMF_BATTERY__SIMPLEMOTIONPOWERSINK_HPP
   #define RMF_BATTERY__SIMPLEMOTIONPOWERSINK_HPP
   
   #include <rmf_battery/MotionPowerSink.hpp>
   #include <rmf_battery/agv/BatterySystem.hpp>
   #include <rmf_battery/agv/MechanicalSystem.hpp>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   namespace rmf_battery {
   namespace agv {
   
   //==============================================================================
   class SimpleMotionPowerSink : public MotionPowerSink
   {
   public:
   
     SimpleMotionPowerSink(
       const BatterySystem& battery_system,
       const MechanicalSystem& mechanical_system);
   
     const BatterySystem& battery_system() const;
   
     const MechanicalSystem& mechanical_system() const;
   
     virtual double compute_change_in_charge(
       const rmf_traffic::Trajectory& trajectory) const final;
   
     class Implementation;
   
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace agv
   } // namespace rmf_battery
   
   #endif // RMF_BATTERY__SIMPLEMOTIONPOWERSINK_HPP