Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphere. More...

#include <AdiabaticAtmosphere.hh>

Public Member Functions
	AdiabaticAtmosphere (physics::World &_world)
	Constructor. More...

virtual	~AdiabaticAtmosphere ()
	Destructor. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the atmosphere model. More...

double	MassDensity (const double _altitude=0.0) const
	Get the density in kg/m^3 at a given altitude. More...

virtual double	Pressure (const double _altitude=0.0) const
	Get the pressure at a specified altitude in pascals. More...

virtual void	Reset ()
	Reset the atmosphere model. More...

sdf::ElementPtr	SDF () const
	Get a pointer to the SDF element for this atmosphere model. More...

virtual void	SetPressure (const double _pressure)
	Set the sea level pressure. More...

virtual void	SetTemperature (const double _t)
	Set the sea level temperature. More...

virtual void	SetTemperatureGradient (const double _gradient)
	Set the temperature gradient dT/dZ with respect to increasing altitude around sea level. More...

virtual double	Temperature (const double _altitude=0.0) const
	Get the actual modeled temperature in kelvins at a given altitude. More...

double	TemperatureGradient () const
	Get the sea level temperature gradient with respect to increasing altitude. More...

virtual std::string	Type () const
	Return the atmosphere model type (such as "adiabatic"). More...

Static Public Attributes
static const double	IDEAL_GAS_CONSTANT_R
	Universal ideal gas constant in J/(mol.K) More...

static const double	MOLAR_MASS
	Molar mass of the air in kg/mol. More...

Protected Member Functions
virtual void	OnAtmosphereMsg (ConstAtmospherePtr &_msg)
	Virtual callback for gztopic "~/atmosphere". More...

virtual void	OnRequest (ConstRequestPtr &_msg)
	Virtual callback for gztopic "~/request". More...

void	Publish (const msgs::Response &_msg) const
	Publish response to a request. More...

void	UpdateMassDensity ()
	Update the mass density of the air at sea level using the ideal gas law. More...

physics::World &	World () const
	Return the world. More...

Protected Attributes
std::unique_ptr< AdiabaticAtmospherePrivate >	dataPtr

Detailed Description

Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphere.

http://ntrs.nasa.gov/search.jsp?R=19930083952 This model assumes a specific composition of gases, the ideal gas law, hydrostatic equilibrium, and constant gradients of gravity and temperature with respect to altitude. The troposphere model is recommended for altitudes below 11 km.

Constructor & Destructor Documentation

◆ AdiabaticAtmosphere()

AdiabaticAtmosphere ( physics::World & _world )

explicit

Constructor.

Parameters

[in] _world The World that uses this atmosphere model.

◆ ~AdiabaticAtmosphere()

virtual ~AdiabaticAtmosphere ( )

virtual

Destructor.

Member Function Documentation

◆ Load()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the atmosphere model.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented from Atmosphere.

◆ MassDensity()

double MassDensity ( const double _altitude = 0.0 ) const

virtual

Get the density in kg/m^3 at a given altitude.

Parameters

[in] _altitude Altitude above sea level in meters.

Returns: Density in kg/m^3 at the specified altitude.

Reimplemented from Atmosphere.

◆ OnAtmosphereMsg()

virtual void OnAtmosphereMsg ( ConstAtmospherePtr & _msg )

protectedvirtual

Virtual callback for gztopic "~/atmosphere".

Parameters

[in] _msg Atmosphere message.

Reimplemented from Atmosphere.

◆ OnRequest()

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

Virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented from Atmosphere.

◆ Pressure()

virtual double Pressure ( const double _altitude = 0.0 ) const

virtual

Get the pressure at a specified altitude in pascals.

Parameters

[in] _altitude Altitude above sea level in meters.

Returns: Pressure in pascals at the specified altitude.

Reimplemented from Atmosphere.

◆ Publish()

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

protectedinherited

Publish response to a request.

Parameters

[in] _msg Message to be published.

◆ Reset()

virtual void Reset ( )

virtualinherited

Reset the atmosphere model.

◆ SDF()

sdf::ElementPtr SDF ( ) const

inherited

Get a pointer to the SDF element for this atmosphere model.

Returns: Pointer to the atmosphere SDF element.

◆ SetPressure()

virtual void SetPressure ( const double _pressure )

virtualinherited

Set the sea level pressure.

Parameters

[in] _pressure Pressure in pascals.

◆ SetTemperature()

virtual void SetTemperature ( const double _t )

virtualinherited

Set the sea level temperature.

Parameters

[in] _t Temperature value in kelvins.

◆ SetTemperatureGradient()

virtual void SetTemperatureGradient ( const double _gradient )

virtual

Set the temperature gradient dT/dZ with respect to increasing altitude around sea level.

Parameters

[in] _gradient Value of the temperature gradient dT/dZ around sea level in K/m.

Implements Atmosphere.

◆ Temperature()

virtual double Temperature ( const double _altitude = 0.0 ) const

virtual

Get the actual modeled temperature in kelvins at a given altitude.

Parameters

[in] _altitude Altitude above sea level in meters.

Returns: Modeled temperature in kelvin at the specified altitude.

Reimplemented from Atmosphere.

◆ TemperatureGradient()

double TemperatureGradient ( ) const

inherited

Get the sea level temperature gradient with respect to increasing altitude.

Returns: Temperature gradient at sea level in K/m.

◆ Type()

virtual std::string Type ( ) const

virtual

Return the atmosphere model type (such as "adiabatic").

Returns: Type of the atmosphere model.

Implements Atmosphere.

◆ UpdateMassDensity()

void UpdateMassDensity ( )

protectedinherited

Update the mass density of the air at sea level using the ideal gas law.

See https://en.wikipedia.org/wiki/Ideal_gas_law

◆ World()

physics::World& World ( ) const

protectedinherited

Return the world.

Returns: Reference to the world.

Member Data Documentation

◆ dataPtr

std::unique_ptr<AdiabaticAtmospherePrivate> dataPtr

protected

◆ IDEAL_GAS_CONSTANT_R

const double IDEAL_GAS_CONSTANT_R

staticinherited

Universal ideal gas constant in J/(mol.K)

◆ MOLAR_MASS

const double MOLAR_MASS

staticinherited

Molar mass of the air in kg/mol.

The documentation for this class was generated from the following file:

AdiabaticAtmosphere.hh

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AdiabaticAtmosphere()

◆ ~AdiabaticAtmosphere()

Member Function Documentation

◆ Load()

◆ MassDensity()

◆ OnAtmosphereMsg()

◆ OnRequest()

◆ Pressure()

◆ Publish()

◆ Reset()

◆ SDF()

◆ SetPressure()

◆ SetTemperature()

◆ SetTemperatureGradient()

◆ Temperature()

◆ TemperatureGradient()

◆ Type()

◆ UpdateMassDensity()

◆ World()

Member Data Documentation

◆ dataPtr

◆ IDEAL_GAS_CONSTANT_R

◆ MOLAR_MASS