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/*
* Copyright 2018 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 SDF_ATMOSPHERE_HH_
#define SDF_ATMOSPHERE_HH_
#include <ignition/math/Temperature.hh>
#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \enum AtmosphereType
/// \brief The set of atmosphere model types.
enum class AtmosphereType
{
/// \brief Adiabatic atmosphere model.
ADIABATIC = 0,
};
// Forward declarations.
class AtmospherePrivate;
/// \brief The Atmosphere class contains information about
/// an atmospheric model and related parameters such as temperature
/// and pressure at sea level. An Atmosphere instance is optionally part of
/// a World.
class SDFORMAT_VISIBLE Atmosphere
{
/// \brief Default constructor
public: Atmosphere();
/// \brief Copy constructor
/// \param[in] _atmosphere Atmosphere to copy.
public: Atmosphere(const Atmosphere &_atmosphere);
/// \brief Move constructor
/// \param[in] _atmosphere Atmosphere to move.
public: Atmosphere(Atmosphere &&_atmosphere) noexcept;
/// \brief Move assignment operator.
/// \param[in] _atmosphere Atmosphere to move.
/// \return Reference to this.
public: Atmosphere &operator=(Atmosphere &&_atmosphere);
/// \brief Copy assignment operator.
/// \param[in] _atmosphere Atmosphere to copy.
/// \return Reference to this.
public: Atmosphere &operator=(const Atmosphere &_atmosphere);
/// \brief Destructor
public: ~Atmosphere();
/// \brief Load the atmosphere based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the type of the atmospheric model.
/// \return The type of atmosphere engine, which defaults to adiabatic.
public: AtmosphereType Type() const;
/// \brief Set the type of the atmospheric model.
/// \param[in] _type The type of atmosphere engine.
public: void SetType(const AtmosphereType _type);
/// \brief Get the temperature at sea level.
/// \return The temperature at sea level.
public: ignition::math::Temperature Temperature() const;
/// \brief Set the temperature at sea level.
/// \param[in] _temp The temperature at sea level.
public: void SetTemperature(const ignition::math::Temperature &_temp);
/// \brief Get the temperature gradient with respect to increasing
/// altitude in units of K/m.
/// \return The temperature gradient in K/m.
public: double TemperatureGradient() const;
/// \brief Set the temperature gradient with respect to increasing
/// altitude in units of K/m.
/// \param[in] _gradient The temperature gradient in K/m.
public: void SetTemperatureGradient(const double _gradient);
/// \brief Get the pressure at sea level in pascals.
/// \return The pressure at sea level in pascals.
public: double Pressure() const;
/// \brief Set the pressure at sea level in pascals.
/// \param[in] _pressure The pressure at sea level in pascals.
public: void SetPressure(const double _pressure);
/// \brief Equality operator that returns true if this atmosphere
/// instance equals the given atmosphere instance.
/// \param[in] _atmosphere Atmosphere instance to compare.
/// \return True if this instance equals the given atmosphere.
public: bool operator==(const Atmosphere &_atmosphere);
/// \brief Private data pointer.
private: AtmospherePrivate *dataPtr = nullptr;
};
}
}
#endif
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