Class SimpleDevicePowerSink

• Defined in File SimpleDevicePowerSink.hpp

Inheritance Relationships

Base Type

• public rmf_battery::DevicePowerSink (Class DevicePowerSink)

Class Documentation

class SimpleDevicePowerSink : public rmf_battery::DevicePowerSink

Public Functions

SimpleDevicePowerSink(const BatterySystem &battery_system, const PowerSystem &power_system)

Constructor

Parameters:

• battery_system – [in] The BatterySystem of the robot

• power_system – [in] The PowerSystem for this device

const BatterySystem &battery_system() const

Get a constant reference to the battery system.

const PowerSystem &power_system() const

Get a constant reference to the power system.

virtual double compute_change_in_charge(const double run_time) const final

Compute change in state-of-charge of the battery due to an onboard device over a time period.

Parameters:

run_time – [in] The duration in seconds over which the power system drains charge from the battery

Returns:

The charge depleted as a fraction of the total battery capacity