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17 #ifndef GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
18 #define GAZEBO_PLUGINS_LINEARBATTERYPLUGIN_HH_
25 #include "gazebo/physics/physics.hh"
39 public:
virtual void Init();
68 protected: sdf::ElementPtr
sdf;
85 protected:
double tau;
double e0
Open-circuit voltage.
Definition: LinearBatteryPlugin.hh:72
double ismooth
Smoothed battery current in A.
Definition: LinearBatteryPlugin.hh:91
Forward declarations for the common classes.
Definition: Animation.hh:27
sdf::ElementPtr sdf
SDF for this plugin;.
Definition: LinearBatteryPlugin.hh:68
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
double iraw
Raw battery current in A.
Definition: LinearBatteryPlugin.hh:88
double q
Instantaneous battery charge in Ah.
Definition: LinearBatteryPlugin.hh:94
physics::ModelPtr model
Pointer to model containing plugin.
Definition: LinearBatteryPlugin.hh:59
double c
Battery capacity in Ah.
Definition: LinearBatteryPlugin.hh:79
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
common::BatteryPtr battery
Pointer to battery contained in link.
Definition: LinearBatteryPlugin.hh:65
event::ConnectionPtr updateConnection
Connection to World Update events.
Definition: LinearBatteryPlugin.hh:50
double r
Battery inner resistance in Ohm.
Definition: LinearBatteryPlugin.hh:82
double q0
Initial battery charge in Ah.
Definition: LinearBatteryPlugin.hh:76
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
A plugin that simulates a linear battery.
Definition: LinearBatteryPlugin.hh:31
physics::WorldPtr world
Pointer to world.
Definition: LinearBatteryPlugin.hh:53
physics::LinkPtr link
Pointer to link containing battery link.
Definition: LinearBatteryPlugin.hh:62
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:126
std::shared_ptr< Battery > BatteryPtr
Definition: CommonTypes.hh:125
virtual void Reset()
Override this method for custom plugin reset behavior.
physics::PhysicsEnginePtr physics
Pointer to physics engine.
Definition: LinearBatteryPlugin.hh:56
double tau
Current low-pass filter characteristic time in seconds.
Definition: LinearBatteryPlugin.hh:85
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
A plugin with access to physics::Model.
Definition: Plugin.hh:304
virtual void Init()
Override this method for custom plugin initialization behavior.
LinearBatteryPlugin()
Constructor.
double e1
Definition: LinearBatteryPlugin.hh:73