AdiabaticAtmosphere.hh
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17#ifndef GAZEBO_PHYSICS_ADIABATICATMOSPHERE_HH_
18#define GAZEBO_PHYSICS_ADIABATICATMOSPHERE_HH_
19
20#include <memory>
21#include <string>
22
24
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
32 class AdiabaticAtmospherePrivate;
33
36
46 class GZ_PHYSICS_VISIBLE AdiabaticAtmosphere : public Atmosphere
47 {
50 public: explicit AdiabaticAtmosphere(physics::World &_world);
51
53 public: virtual ~AdiabaticAtmosphere();
54
55 // Documentation inherited
56 public: virtual void Load(sdf::ElementPtr _sdf);
57
58 // Documentation inherited
59 public: virtual std::string Type() const;
60
61 // Documentation inherited
62 protected: virtual void OnRequest(ConstRequestPtr &_msg);
63
64 // Documentation inherited
65 protected: virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg);
66
67 // Documentation inherited
68 public: virtual void SetTemperatureGradient(const double _gradient);
69
70 // Documentation inherited
71 public: virtual double Temperature(const double _altitude = 0.0) const;
72
73 // Documentation inherited
74 public: virtual double Pressure(const double _altitude = 0.0) const;
75
76 // Documentation inherited
77 public: double MassDensity(const double _altitude = 0.0) const;
78
79 // \brief Compute the adiabatic power used internally.
80 private: void ComputeAdiabaticPower();
81
84 protected: std::unique_ptr<AdiabaticAtmospherePrivate> dataPtr;
85 };
87 }
88}
89#endif
Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphe...
Definition AdiabaticAtmosphere.hh:47
virtual double Pressure(const double _altitude=0.0) const
Get the pressure at a specified altitude in pascals.
virtual ~AdiabaticAtmosphere()
Destructor.
virtual double Temperature(const double _altitude=0.0) const
Get the actual modeled temperature in kelvins at a given altitude.
virtual void OnRequest(ConstRequestPtr &_msg)
Virtual callback for gztopic "~/request".
virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg)
Virtual callback for gztopic "~/atmosphere".
AdiabaticAtmosphere(physics::World &_world)
Constructor.
std::unique_ptr< AdiabaticAtmospherePrivate > dataPtr
Definition AdiabaticAtmosphere.hh:84
virtual void SetTemperatureGradient(const double _gradient)
Set the temperature gradient dT/dZ with respect to increasing altitude around sea level.
virtual void Load(sdf::ElementPtr _sdf)
Load the atmosphere model.
double MassDensity(const double _altitude=0.0) const
Get the density in kg/m^3 at a given altitude.
virtual std::string Type() const
Return the atmosphere model type (such as "adiabatic").
This models a base atmosphere class to serve as a common interface to any derived atmosphere models.
Definition Atmosphere.hh:43
The world provides access to all other object within a simulated environment.
Definition World.hh:76
Forward declarations for the common classes.
Definition Animation.hh:27