//! Compute energy consumed by a payload entity
//! @param[in] label name of the payload
//! @param[in] duration amount of time active
//! @return energy consumed in Wh
float
computePayloadEnergy(const std::string& label, float duration) const
{
if (!m_payloads.size())
return 0.0;
std::map<std::string, float>::const_iterator itr;
itr = m_payloads.find(label);
if (itr == m_payloads.end())
return 0.0;
return toWh(itr->second, duration);
}
//! Compute energy consumed by motor for some RPM value
//! @param[in] rpm value of rpms to convert from
//! @param[in] duration amount of time rotating at rpm
//! @return energy consumed in Wh
float
computeMotionEnergy(float rpm, float duration) const
{
if (rpm <= 0.0f || duration <= 0.0f)
return 0.0;
float power;
if (m_conv_watt.size() == 1)
power = rpm * m_conv_watt[0] / m_conv_rpm[0];
else
power = Math::piecewiseLI(m_conv_watt , m_conv_rpm, rpm);
return toWh(power, duration);
}
//! Compute energy consumed by IMU
//! @param[in] duration amount of time in seconds
//! @return energy consumed in Wh
float
computeIMUEnergy(float duration) const
{
return toWh(m_imu_power, duration);
}
//! Compute energy consumed by minimal resources
//! @param[in] duration amount of time in seconds
//! @return energy consumed in Wh
float
computeHotelEnergy(float duration) const
{
return toWh(m_hotel_load, duration);
}
float
Model::computeIMUEnergy(float duration) const
{
return toWh(m_power_imu, duration);
}
float
Model::computeHotelEnergy(float duration) const
{
return toWh(m_power_hotel, duration);
}
