Develop/dispatcher demo

rmf_battery/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(rmf_battery)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(NOT CMAKE_BUILD_TYPE)
+  # Use the Release build type by default if the user has not specified one
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address")
+# set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address")
+
+include(GNUInstallDirs)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rmf_utils REQUIRED)
+find_package(rmf_traffic REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# ===== Battery modelling library
+file(GLOB_RECURSE core_lib_srcs "src/rmf_battery/*.cpp")
+add_library(rmf_battery SHARED
+  ${core_lib_srcs}
+)
+
+target_link_libraries(rmf_battery
+  PUBLIC
+    rmf_utils::rmf_utils
+    rmf_traffic::rmf_traffic
+)
+
+target_include_directories(rmf_battery
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+    ${EIGEN3_INCLUDE_DIRS}
+)
+
+ament_export_targets(rmf_battery HAS_LIBRARY_TARGET)
+ament_export_dependencies(rmf_utils)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_catch2 REQUIRED)
+
+  file(GLOB_RECURSE unit_test_srcs "test/*.cpp")
+
+  ament_add_catch2(
+    test_rmf_battery test/main.cpp ${unit_test_srcs}
+    TIMEOUT 300)
+  target_link_libraries(test_rmf_battery
+      rmf_battery
+  )
+
+  target_include_directories(test_rmf_battery
+    PRIVATE
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/>
+  )
+
+  find_package(rmf_cmake_uncrustify REQUIRED)
+  find_file(uncrustify_config_file NAMES "share/format/rmf_code_style.cfg")
+
+  rmf_uncrustify(
+    ARGN include src test
+    CONFIG_FILE ${uncrustify_config_file}
+    MAX_LINE_LENGTH 80
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(
+  TARGETS rmf_battery
+  EXPORT  rmf_battery
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+
+ament_package()

rmf_battery/include/rmf_battery/DevicePowerSink.hpp

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+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_BATTERY__DEVICEPOWERSINK_HPP
+#define RMF_BATTERY__DEVICEPOWERSINK_HPP
+
+namespace rmf_battery {
+
+
+//==============================================================================
+class DevicePowerSink
+{
+public:
+
+  /// Compute change in state-of-charge of the battery due to an onboard
+  /// device over a time period.
+  ///
+  /// \param[in] run_time
+  ///   The duration in seconds over which the power system drains charge from
+  ///   the battery
+  ///
+  /// \return The charge depleted as a fraction of the total battery capacity
+  virtual double compute_change_in_charge(
+    const double run_time) const = 0;
+
+  virtual ~DevicePowerSink() = default;
+};
+
+} // namespace rmf_battery
+
+#endif // RMF_BATTERY__DEVICEPOWERSINK_HPP

rmf_battery/include/rmf_battery/MotionPowerSink.hpp

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+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_BATTERY__MOTIONPOWERSINK_HPP
+#define RMF_BATTERY__MOTIONPOWERSINK_HPP
+
+#include <rmf_traffic/Trajectory.hpp>
+
+namespace rmf_battery {
+
+
+//==============================================================================
+class MotionPowerSink
+{
+public:
+
+  /// Compute change in state-of-charge of the battery due to locomotion
+  /// of the robot along a trajectory.
+  ///
+  /// \param[in] trajectory
+  ///   A valid rmf_traffic:::Trajectory over which the change in charge has to
+  ///   to be computed
+  ///
+  /// \return The charge depleted as a fraction of the total battery capacity
+  virtual double compute_change_in_charge(
+    const rmf_traffic::Trajectory& trajectory) const = 0;
+
+  virtual ~MotionPowerSink() = default;
+};
+
+} // namespace rmf_battery
+
+#endif // RMF_BATTERY__MOTIONPOWERSINK_HPP

rmf_battery/include/rmf_battery/agv/BatterySystem.hpp

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+
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_BATTERY__AGV__BATTERYSYSTEM_HPP
+#define RMF_BATTERY__AGV__BATTERYSYSTEM_HPP
+
+#include <rmf_utils/impl_ptr.hpp>
+
+#include <optional>
+
+namespace rmf_battery {
+namespace agv {
+
+class BatterySystem
+{
+public:
+  /// Returns a BatterySystem object if valid values were supplied for the
+  /// various fields else returns std::nullopt. Here valid implies that the
+  /// values are greater than zero.
+  /// \param[in] nominal_voltage
+  ///   The nominal voltage of the battery in Volts
+  ///
+  /// \param[in] capacity
+  ///   The nominal capacity of the battery in Ampere-hours
+  ///
+  /// \param[in] charging_current
+  ///   The rated current in Amperes for charging the battery
+  static std::optional<BatterySystem> make(
+    double nominal_voltage,
+    double capacity,
+    double charging_current);
+
+  /// Get the nominal voltage of this battery system
+  double nominal_voltage() const;
+
+  /// Get the capacity of this battery system
+  double capacity() const;
+
+  /// Get the charging current of this battery system
+  double charging_current() const;
+
+  class Implementation;
+private:
+  BatterySystem();
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+using BatterySystemPtr = std::shared_ptr<BatterySystem>;
+using ConstBatterySystemPtr = std::shared_ptr<const BatterySystem>;
+
+} // namespace agv
+} // namespace rmf_battery
+
+#endif // RMF_BATTERY__AGV__BATTERYSYSTEM_HPP

rmf_battery/include/rmf_battery/agv/MechanicalSystem.hpp

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+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_BATTERY__AGV__MECHANICALSYSTEM_HPP
+#define RMF_BATTERY__AGV__MECHANICALSYSTEM_HPP
+
+#include <rmf_utils/impl_ptr.hpp>
+
+#include <optional>
+
+namespace rmf_battery {
+namespace agv {
+
+class MechanicalSystem
+{
+public:
+
+  /// Returns a MechanicalSystem object if valid values were supplied for the
+  /// various fields else returns std::nullopt. Here valid implies that the
+  /// values are greater than zero.
+  /// \param[in] mass
+  ///   The mass of the robot in Kilograms(kg)
+  ///
+  /// \param[in] moment_of_inertia
+  ///   The moment of inertia of the robot along its yaw axis in kg.m^2
+  ///
+  /// \param[in] friction_coefficient
+  ///   The coefficient of kinetic friction or rolling resistance coefficient
+  ///   measured at the wheels of the robot. This value is used to compute the 
+  ///   energy loss due to rotation of the vehicle's wheels during locomotion.
+  ///   This value is the dimensionless constant Crr as described in the
+  ///   reference below.
+  ///   Ref: https://en.wikipedia.org/wiki/Rolling_resistance#Rolling_resistance_coefficient
+  static std::optional<MechanicalSystem> make(
+    double mass,
+    double moment_of_inertia,
+    double friction_coefficient);
+
+  /// Get the mass of this mechanical system
+  double mass() const;
+
+  /// Get the moment of inertia of this mechanical system
+  double moment_of_inertia() const;
+
+  /// Get the friction coefficient of this mechanical system
+  double friction_coefficient() const;
+
+  class Implementation;
+private:
+  MechanicalSystem();
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+using MechanicalSystemPtr = std::shared_ptr<MechanicalSystem>;
+using ConstMechanicalSystemPtr = std::shared_ptr<const MechanicalSystem>;
+
+} // namespace agv
+} // namespace rmf_battery
+
+#endif // RMF_BATTERY__AGV__MECHANICALSYSTEM_HPP

rmf_battery/include/rmf_battery/agv/PowerSystem.hpp

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+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_BATTERY__AGV__POWERSYSTEM_HPP
+#define RMF_BATTERY__AGV__POWERSYSTEM_HPP
+
+#include <rmf_utils/impl_ptr.hpp>
+
+#include <optional>
+
+namespace rmf_battery {
+namespace agv {
+
+
+class PowerSystem
+{
+public:
+
+  /// Returns a PowerSystem object if valid values were supplied for the
+  /// various fields else returns std::nullopt. Here valid implies that the
+  /// values are greater than zero.
+  /// \param[in] nominal_power
+  ///   The rated nominal power consumption in Watts for this power system
+  static std::optional<PowerSystem> make(double nominal_power);
+
+  /// Get the nominal power of this power system
+  double nominal_power() const;
+
+  class Implementation;
+private:
+  PowerSystem();
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+using PowerSystemPtr = std::shared_ptr<PowerSystem>;
+using ConstPowerSystemPtr = std::shared_ptr<const PowerSystem>;
+
+} // namespace agv
+} // namespace rmf_battery
+
+#endif // RMF_BATTERY__AGV__POWERSYSTEM_HPP