observation.h
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00034 
00035 #ifndef POWER_MONITOR_OBSERVATION_H
00036 #define POWER_MONITOR_OBSERVATION_H
00037 
00038 #include <stdlib.h>
00039 
00040 #include "ros/ros.h"
00041 
00042 #include "pr2_msgs/PowerBoardState.h"
00043 
00044 namespace power_monitor {
00045 
00046 class BatteryObservation;
00047 
00051 class PowerObservation
00052 {
00053 public:
00054     PowerObservation();
00055     PowerObservation(const ros::Time& stamp, int8_t master_state, const std::vector<BatteryObservation>& batteries);
00056 
00057     const ros::Time&                       getStamp() const;
00058     int8_t                                 getMasterState() const;
00059     const std::vector<BatteryObservation>& getBatteries() const;
00060 
00061     unsigned int  getAcCount() const;
00062     float         getTotalPower() const;
00063     float         getMinVoltage() const;
00064     unsigned int  getMinRelativeStateOfCharge() const;
00065     float         getTotalRemainingCapacity() const;
00066     ros::Duration getMinTimeToEmpty(const ros::Time& t) const;
00067     ros::Duration getMaxTimeToFull(const ros::Time& t) const;
00068 
00069 private:
00070     ros::Time                       stamp_;
00071     int8_t                          master_state_;
00072     std::vector<BatteryObservation> batteries_;
00073 };
00074 
00078 class BatteryObservation
00079 {
00080 public:
00081     BatteryObservation(const ros::Time& stamp, bool ac_present, float voltage, float current,
00082                        unsigned int relative_state_of_charge, float remaining_capacity, const ros::Duration& time_to_empty, const ros::Duration& time_to_full);
00083 
00084     const ros::Time& getStamp() const;
00085 
00086     bool                 isAcPresent() const;
00087     float                getVoltage() const;
00088     float                getCurrent() const;
00089     unsigned int         getRelativeStateOfCharge() const;
00090     float                getRemainingCapacity() const;
00091     const ros::Duration& getTimeToEmpty() const;
00092     const ros::Duration& getTimeToFull() const;
00093 
00094     float getPower() const;
00095 
00096 private:
00097     ros::Time     stamp_;
00098     bool          ac_present_;
00099     float         voltage_;                   // V
00100     float         current_;                   // A (-ve if discharging)
00101     unsigned int  relative_state_of_charge_;  // % [0-100]
00102     float         remaining_capacity_;        // Ah
00103     ros::Duration time_to_empty_;
00104     ros::Duration time_to_full_;
00105 };
00106 
00107 }
00108 
00109 #endif /* POWER_MONITOR_OBSERVATION_H */


power_monitor
Author(s): Tim Field, Curt Meyers
autogenerated on Thu Jun 6 2019 21:11:01