Class inertialsim::geodesy::EllipsoidalGravity¶

ClassList > inertialsim > geodesy > EllipsoidalGravity

Ellipsoidal gravity model. More...

#include <gravity.h>

Inherits the following classes: inertialsim::geodesy::Gravity

Public Static Attributes inherited from inertialsim::geodesy::Gravity¶

Type	Name
constexpr double	standard_magnitude = `STANDARD\_GRAVITY` Standard gravity magnitude.

Public Functions¶

Type	Name
virtual Scalar1D	Magnitude (const Coordinates & coordinates) override const Return the magnitude of gravity at the given coordinates.
virtual Scalar1D	Magnitude (const Coordinates & coordinates) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Vector3D	Vector (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.

Public Functions inherited from inertialsim::geodesy::Gravity¶

See inertialsim::geodesy::Gravity

Type	Name
virtual Scalar1D	Magnitude (const Coordinates & coordinates) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Vector3D	Vector (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.

Public Functions inherited from inertialsim::geodesy::Field¶

See inertialsim::geodesy::Field

Type	Name
virtual Scalar1D	Magnitude (const Coordinates & coordinates) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Vector3D	Vector (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
virtual	~Field () = default Virtual destructor.

Public Static Functions inherited from inertialsim::geodesy::Gravity¶

See inertialsim::geodesy::Gravity

Type	Name
Vector3D	StandardVector (TopocentricAxisOrder axis_order=TopocentricAxisOrder::NED) Standard gravity in a topocentric frame.

Protected Functions¶

Type	Name
virtual Vector3D	VectorImpl (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis) override const Return the gravity vector at the given coordinates.

Protected Functions inherited from inertialsim::geodesy::Field¶

See inertialsim::geodesy::Field

Type	Name
virtual Vector3D	VectorImpl (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis) const = 0 Vector implementation to be overridden by subclasses.

Detailed Description¶

Analytic model based on an equipotential ellipsoid of revolution, as in the WGS84 model of Earth.

Gravity is the sum of gravitational acceleration from the mass of the ellipsoid plus the effect of centripetal acceleration from the rotation of the ellipsoid. This represents the total acceleration experienced in the Earth-fixed frame.

The implementation uses different approximations depending on the location: * For small positive altitudes: Normal gravity at the ellipsoid surface with altitude correction (see Standard [07]) * For points inside the ellipsoid: Exact ellipsoidal harmonic coordinate model (see Standard [07] Section 4.3) * For negative altitudes: Approximate extension of the ellipsoidal model

Note:

This model includes both gravitational and centripetal effects, representing the total acceleration experienced in the Earth-fixed frame.

Note:

The default gravity model uses parameters from the associated GeodeticDatum (typically WGS84).

See also: Coordinates for supported coordinate systems

See also: GeodeticDatum for Earth ellipsoid parameters

Public Functions Documentation¶

function Magnitude [⅕]¶

Return the magnitude of gravity at the given coordinates.

virtual Scalar1D inertialsim::geodesy::EllipsoidalGravity::Magnitude (
    const Coordinates & coordinates
) override const

Parameters:

coordinates Array of coordinates.

Returns:

Array of gravity magnitudes (N x 1).

Implements inertialsim::geodesy::Field::Magnitude

function Magnitude [⅖]¶

Return magnitude at the given coordinates.

virtual Scalar1D inertialsim::geodesy::EllipsoidalGravity::Magnitude (
    const Coordinates & coordinates
) const

Parameters:

coordinates Array of coordinates.

Returns:

Array of magnitudes.

Implements inertialsim::geodesy::Field::Magnitude

function Magnitude [⅗]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalGravity::Magnitude (
    const Array3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::GEODETIC
) const

Parameters:

coordinates Array of raw coordinates (e.g. geodetic).
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Magnitude [⅘]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalGravity::Magnitude (
    const geometry::Vector & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL
) const

Parameters:

coordinates Array of coordinates as geometry::Vector.
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Magnitude [5/5]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalGravity::Magnitude (
    const Vector3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL
) const

Parameters:

coordinates Array of raw coordinates (e.g. local xyz).
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Vector [¼]¶

Return the vector field at the given coordinates.

inline Vector3D inertialsim::geodesy::EllipsoidalGravity::Vector (
    const Coordinates & coordinates,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

By default, the vector components will be expressed in the basis associated with the coordinates. For curvilinear systems (e.g. geodetic), the basis is the local basis at the given coordinates. If basis is supplied, it will be used instead.

Note:

For curvilinear coordinate systems like geodetic coordinates, the default basis is the local tangent plane basis at each coordinate location. For Cartesian systems like ECEF, the basis is constant.

Parameters:

coordinates Array of coordinates.
basis Optional basis in which to return the vector. If not specified, uses the basis associated with the coordinates.

Returns:

Array of vectors (3xN).

function Vector [2/4]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalGravity::Vector (
    const Array3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::GEODETIC,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Array of raw coordinates (e.g. geodetic).
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

function Vector [¾]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalGravity::Vector (
    const geometry::Vector & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Array of coordinates as geometry::Vector.
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

function Vector [4/4]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalGravity::Vector (
    const Vector3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Vector of raw coordinates (e.g. local xyz)
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

Protected Functions Documentation¶

function VectorImpl¶

Return the gravity vector at the given coordinates.

virtual Vector3D inertialsim::geodesy::EllipsoidalGravity::VectorImpl (
    const Coordinates & coordinates,
    const std::optional< CoordinateSystem > & basis
) override const

By default, the gravity vector components will be expressed in the basis of the input coordinates. For curvilinear systems (e.g. geodetic), the basis is the local basis at the given coordinates. If basis is supplied, it will be used instead.

Parameters:

coordinates Array of coordinates.
basis Optional basis in which to return the gravity vector.

Returns:

Array of gravity vectors (3xN).

Exception:

std::invalid_argument if basis is not a global coordinate system.

Implements inertialsim::geodesy::Field::VectorImpl

The documentation for this class was generated from the following file cpp/include/inertialsim/geodesy/gravity.h