Atmosphere.hh
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17#ifndef GAZEBO_PHYSICS_ATMOSPHERE_HH_
18#define GAZEBO_PHYSICS_ATMOSPHERE_HH_
19
20#include <memory>
21#include <string>
22
23#include "gazebo/msgs/msgs.hh"
24
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
31 class World;
32
35
37 class AtmospherePrivate;
38
42 class GZ_PHYSICS_VISIBLE Atmosphere
43 {
46 public: explicit Atmosphere(physics::World &_world);
47
49 public: virtual ~Atmosphere();
50
53 public: virtual void Load(sdf::ElementPtr _sdf);
54
56 public: virtual void Reset();
57
60 public: virtual std::string Type() const = 0;
61
64 public: sdf::ElementPtr SDF() const;
65
68 protected: virtual void OnRequest(ConstRequestPtr &_msg);
69
72 protected: virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg);
73
76 public: virtual void SetTemperature(const double _t);
77
80 public: virtual void SetPressure(const double _pressure);
81
86 public: virtual double Temperature(const double _altitude = 0.0) const;
87
91 public: virtual double Pressure(const double _altitude = 0.0) const;
92
96 public: virtual double MassDensity(const double _altitude = 0.0) const;
97
102 public: virtual void SetTemperatureGradient(const double _gradient) = 0;
103
107 public: double TemperatureGradient() const;
108
112 protected: void UpdateMassDensity();
113
116 protected: physics::World &World() const;
117
120 protected: void Publish(const msgs::Response &_msg) const;
121
123 public: static const double MOLAR_MASS;
124
126 public: static const double IDEAL_GAS_CONSTANT_R;
127
130 private: std::unique_ptr<AtmospherePrivate> dataPtr;
131 };
133 }
134}
135#endif
This models a base atmosphere class to serve as a common interface to any derived atmosphere models.
Definition Atmosphere.hh:43
virtual void SetTemperature(const double _t)
Set the sea level temperature.
void Publish(const msgs::Response &_msg) const
Publish response to a request.
virtual double Pressure(const double _altitude=0.0) const
Get the pressure at a specified altitude in pascals.
virtual void SetTemperatureGradient(const double _gradient)=0
Set the temperature gradient dT/dZ with respect to increasing altitude around sea level.
physics::World & World() const
Return the world.
static const double MOLAR_MASS
Molar mass of the air in kg/mol.
Definition Atmosphere.hh:123
void UpdateMassDensity()
Update the mass density of the air at sea level using the ideal gas law.
virtual double Temperature(const double _altitude=0.0) const
Get the actual modeled temperature in kelvins at a given altitude.
virtual void SetPressure(const double _pressure)
Set the sea level pressure.
virtual void Reset()
Reset the atmosphere model.
virtual void OnRequest(ConstRequestPtr &_msg)
Virtual callback for gztopic "~/request".
virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg)
Virtual callback for gztopic "~/atmosphere".
static const double IDEAL_GAS_CONSTANT_R
Universal ideal gas constant in J/(mol.K)
Definition Atmosphere.hh:126
Atmosphere(physics::World &_world)
Default constructor.
virtual double MassDensity(const double _altitude=0.0) const
Get the density in kg/m^3 at a given altitude.
sdf::ElementPtr SDF() const
Get a pointer to the SDF element for this atmosphere model.
virtual std::string Type() const =0
Return the atmosphere model type (such as "adiabatic").
virtual void Load(sdf::ElementPtr _sdf)
Load the atmosphere model.
virtual ~Atmosphere()
Destructor.
double TemperatureGradient() const
Get the sea level temperature gradient with respect to increasing altitude.
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