Program Listing for File SimpleMotionPowerSink.hpp

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/*
 * 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