Class SimpleMotionPowerSink

Inheritance Relationships

Base Type

Class Documentation

class SimpleMotionPowerSink : public rmf_battery::MotionPowerSink

Public Functions

SimpleMotionPowerSink(const BatterySystem &battery_system, const MechanicalSystem &mechanical_system)


const BatterySystem &battery_system() const

Get a constant reference to the battery system.

const MechanicalSystem &mechanical_system() const

Get a constant reference to the mechanical system.

virtual double compute_change_in_charge(const rmf_traffic::Trajectory &trajectory) const final

Compute change in state-of-charge estimate of 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