Atmosphere.hh

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/*
 * 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_ATMOSPHERE_HH_
#define GAZEBO_PHYSICS_ATMOSPHERE_HH_

#include <memory>
#include <string>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class World;


    class AtmospherePrivate;

    class GZ_PHYSICS_VISIBLE Atmosphere
    {
      public: explicit Atmosphere(physics::World &_world);

      public: virtual ~Atmosphere();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Reset();

      public: virtual std::string Type() const = 0;

      public: sdf::ElementPtr SDF() const;

      protected: virtual void OnRequest(ConstRequestPtr &_msg);

      protected: virtual void OnAtmosphereMsg(ConstAtmospherePtr &_msg);

      public: virtual void SetTemperature(const double _t);

      public: virtual void SetPressure(const double _pressure);

      public: virtual double Temperature(const double _altitude = 0.0) const;

      public: virtual double Pressure(const double _altitude = 0.0) const;

      public: virtual double MassDensity(const double _altitude = 0.0) const;

      public: virtual void SetTemperatureGradient(const double _gradient) = 0;

      public: double TemperatureGradient() const;

      protected: void UpdateMassDensity();

      protected: physics::World &World() const;

      protected: void Publish(const msgs::Response &_msg) const;

      public: static const double MOLAR_MASS;

      public: static const double IDEAL_GAS_CONSTANT_R;

      private: std::unique_ptr<AtmospherePrivate> dataPtr;
    };
  }
}
#endif