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