This models a base atmosphere class to serve as a common interface to any derived atmosphere models. More...

#include <physics/physics.hh>

Public Member Functions
	Atmosphere (physics::World &_world)
	Default constructor. More...

virtual	~Atmosphere ()
	Destructor. More...

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

virtual 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)=0
	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 =0
	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...

Detailed Description

This models a base atmosphere class to serve as a common interface to any derived atmosphere models.

Constructor & Destructor Documentation

◆ Atmosphere()

Atmosphere ( physics::World & _world )

explicit

Default constructor.

Parameters

[in] _world Reference to the world.

◆ ~Atmosphere()

virtual ~Atmosphere ( )

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 in AdiabaticAtmosphere.

◆ MassDensity()

virtual 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 in AdiabaticAtmosphere.

◆ OnAtmosphereMsg()

virtual void OnAtmosphereMsg ( ConstAtmospherePtr & _msg )

protectedvirtual

Virtual callback for gztopic "~/atmosphere".

Parameters

[in] _msg Atmosphere message.

Reimplemented in AdiabaticAtmosphere.

◆ OnRequest()

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

Virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented in AdiabaticAtmosphere.

◆ 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 in AdiabaticAtmosphere.

◆ Publish()

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

protected

Publish response to a request.

Parameters

[in] _msg Message to be published.

◆ Reset()

virtual void Reset ( )

virtual

Reset the atmosphere model.

◆ SDF()

sdf::ElementPtr SDF ( ) const

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 )

virtual

Set the sea level pressure.

Parameters

[in] _pressure Pressure in pascals.

◆ SetTemperature()

virtual void SetTemperature ( const double _t )

virtual

Set the sea level temperature.

Parameters

[in] _t Temperature value in kelvins.

◆ SetTemperatureGradient()

virtual void SetTemperatureGradient ( const double _gradient )

pure 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.

Implemented in AdiabaticAtmosphere.

◆ 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 in AdiabaticAtmosphere.

◆ TemperatureGradient()

double TemperatureGradient ( ) const

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

pure virtual

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

Returns: Type of the atmosphere model.

Implemented in AdiabaticAtmosphere.

◆ UpdateMassDensity()

void UpdateMassDensity ( )

protected

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

protected

Return the world.

Returns: Reference to the world.

Member Data Documentation

◆ IDEAL_GAS_CONSTANT_R

const double IDEAL_GAS_CONSTANT_R

static

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

◆ MOLAR_MASS

const double MOLAR_MASS

static

Molar mass of the air in kg/mol.

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

Atmosphere.hh

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Atmosphere()

◆ ~Atmosphere()

Member Function Documentation

◆ Load()

◆ MassDensity()

◆ OnAtmosphereMsg()

◆ OnRequest()

◆ Pressure()

◆ Publish()

◆ Reset()

◆ SDF()

◆ SetPressure()

◆ SetTemperature()

◆ SetTemperatureGradient()

◆ Temperature()

◆ TemperatureGradient()

◆ Type()

◆ UpdateMassDensity()

◆ World()

Member Data Documentation

◆ IDEAL_GAS_CONSTANT_R

◆ MOLAR_MASS