text: /*
   * 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
  
  #include <memory>
  
  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;
  };
  
  using DevicePowerSinkPtr = std::shared_ptr<DevicePowerSink>;
  using ConstDevicePowerSinkPtr = std::shared_ptr<const DevicePowerSink>;
  
  } // namespace rmf_battery
  
  #endif // RMF_BATTERY__DEVICEPOWERSINK_HPP
  