##

AdiabaticAtmosphere.hh
Go to the documentation of this file.
/*
* Copyright (C) 2016 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 GAZEBO_PHYSICS_ADIABATICATMOSPHERE_HH_
#define GAZEBO_PHYSICS_ADIABATICATMOSPHERE_HH_
#include <memory>
#include <string>
#include "gazebo/physics/Atmosphere.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class AdiabaticAtmospherePrivate;
class GZ_PHYSICS_VISIBLE AdiabaticAtmosphere : public Atmosphere
{
public: explicit AdiabaticAtmosphere(physics::World &_world);
public: virtual ~AdiabaticAtmosphere();
// Documentation inherited
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited
public: virtual std::string Type() const;
// Documentation inherited
protected: virtual void OnRequest(ConstRequestPtr &_msg);
// Documentation inherited
protected: virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg);
// Documentation inherited
public: virtual void SetTemperatureGradient(const double _gradient);
// Documentation inherited
public: virtual double Temperature(const double _altitude = 0.0) const;
// Documentation inherited
public: virtual double Pressure(const double _altitude = 0.0) const;
// Documentation inherited
public: double MassDensity(const double _altitude = 0.0) const;
// \brief Compute the adiabatic power used internally.
private: void ComputeAdiabaticPower();
protected: std::unique_ptr<AdiabaticAtmospherePrivate> dataPtr;
};
}
}
#endif
gazebo::physics::AdiabaticAtmosphere::OnAtmosphereMsg
virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg)
Virtual callback for gztopic "~/atmosphere".
gazebo::physics::AdiabaticAtmosphere::dataPtr
std::unique_ptr< AdiabaticAtmospherePrivate > dataPtr
Definition: AdiabaticAtmosphere.hh:84
gazebo::physics::AdiabaticAtmosphere::Temperature
virtual double Temperature(const double _altitude=0.0) const
Get the actual modeled temperature in kelvins at a given altitude.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::AdiabaticAtmosphere::MassDensity
double MassDensity(const double _altitude=0.0) const
Get the density in kg/m^3 at a given altitude.
system.hh
gazebo::physics::AdiabaticAtmosphere::OnRequest
virtual void OnRequest(ConstRequestPtr &_msg)
Virtual callback for gztopic "~/request".
gazebo::physics::AdiabaticAtmosphere
Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphe...
Definition: AdiabaticAtmosphere.hh:46
gazebo::physics::Atmosphere
This models a base atmosphere class to serve as a common interface to any derived atmosphere models.
Definition: Atmosphere.hh:42
gazebo::physics::AdiabaticAtmosphere::Pressure
virtual double Pressure(const double _altitude=0.0) const
Get the pressure at a specified altitude in pascals.
gazebo::physics::World
The world provides access to all other object within a simulated environment.
Definition: World.hh:74
gazebo::physics::AdiabaticAtmosphere::SetTemperatureGradient
virtual void SetTemperatureGradient(const double _gradient)
Set the temperature gradient dT/dZ with respect to increasing altitude around sea level.
gazebo::physics::AdiabaticAtmosphere::Type
virtual std::string Type() const
Return the atmosphere model type (such as "adiabatic").
gazebo::physics::AdiabaticAtmosphere::~AdiabaticAtmosphere
virtual ~AdiabaticAtmosphere()
Destructor.
gazebo::physics::AdiabaticAtmosphere::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the atmosphere model.
gazebo::physics::AdiabaticAtmosphere::AdiabaticAtmosphere
AdiabaticAtmosphere(physics::World &_world)
Constructor.
Atmosphere.hh