Hi Tony,
http://www.yuasa-battery.co.uk/industrial/products.html C= the Ahour capacity
I see no easy way if your charger is a crude type with transformer,diode bridge,2 lights and not much else. A very rough guess is when cool and off-line is OK at 6.6 to 6.9 volts …….Voltage readings are affected by internal temperature and age.
If your charger is a "two-step" type with a regulated bulk charge current you can can calculate.
That type of charger will step down the voltage,and maybe indicate with a light when it is 90% full.The point at which it steps to float/standby charge is when the current falls to C x 0.03(according to the 12v7Ah data sheet I browsed) That means the 90% figure depends on a suitable charger i.e don’t put a 7Ah battery on a golf cart or car charger in case it inputs 5 amp at 14.5 volts.
If you therefore figure the charge efficiency is 75% then 5 hours at the C / 5 rate would be enough for a partially discharged battery.
The fastest charge current for a Yuasa 12v 7Ah is C divided by 5 and ,if I remember, I had a charger that did a 6v4Ah at 400mA which is C / 10 rate.
Note
The maximum charge rate is higher for deep cycle batteries than the series optimised for burglar alarms.
I noticed a few caddy-car charger manufacturers are saying disconnect after 24 hours. That ,I think, is a standard quotation and possibly because there is no benefit despite the float mode being OK for the Battery health onpermanent standby.
Thomas Screwinbulb