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Fix ChargeBattery finish_time earlier than start_time #30

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Jul 29, 2021
Merged

Fix ChargeBattery finish_time earlier than start_time #30

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8 changes: 7 additions & 1 deletion rmf_task/src/rmf_task/requests/ChargeBattery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,13 @@ ChargeBattery::Model::estimate_finish(
}

double delta_soc = recharge_soc - battery_soc;
assert(delta_soc >= 0.0);
if (delta_soc <= 1e-3)
{
// The robot's battery level when it reaches the charger is greater than
// the specified battery level the robot should be charged up to. Hence, we
// do not need a ChargeBattery task.
return std::nullopt;
}
double time_to_charge =
(3600 * delta_soc * _parameters.battery_system().capacity()) /
_parameters.battery_system().charging_current();
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