The rmf_battery package provides the following APIs to model a robot's battery life.

• rmf_battery::agv::BatterySystem which bundles parameters related to the battery onboard a robot.
• rmf_battery::agv::MechanicalSystem which bundles physical parameters of a robot.
• rmf_battery::agv::PowerSystem to model a component onboard a robot with a specified power rating.
• rmf_battery::DevicePowerSink is a pure abstract class to model the change in state-of-charge of the robot's battery from a power consuming device onboard the robot.
  • rmf_battery::agv::SimpleDevicePowerSink is a simple out-of-the-box implementation of rmf_battery::DevicePowerSink. This class wraps a BatterySystem and PowerSystem of a robot, and can estimate the change in state-of-charge of the battery from the PowerSystem's energy consumption over a duration.
• rmf_battery::MotionPowerSink to model the change in state-of-charge of the robot's battery resulting from the motion of the robot.
  • rmf_battery::agv::SimpleMotionPowerSink is a simple out-of-the-box implementation of rmf_battery::MotionPowerSink. This class wraps a BatterySystem and MechanicalSystem of a robot, and can estimate the change in state-of-charge of the battery from the energy consumed to accelerate/decelerate a robot as it moves along a trajectory.

Full API documentation is available here