Class MotionPowerSink

Inheritance Relationships

Derived Type

Class Documentation

class MotionPowerSink

Subclassed by rmf_battery::agv::SimpleMotionPowerSink

Public Functions

virtual double compute_change_in_charge(const rmf_traffic::Trajectory &trajectory) const = 0

Compute change in state-of-charge of the battery due to locomotion of the robot along a trajectory.


trajectory[in] A valid rmf_traffic:::Trajectory over which the change in charge has to to be computed


The charge depleted as a fraction of the total battery capacity

virtual ~MotionPowerSink() = default