frcsim::MagnusModel Class Reference

Computes a Magnus lift force from linear velocity and spin. More...

#include <magnus_model.hpp>

Public Member Functions
	MagnusModel (double magnus_coefficient=1.0e-4)
	Creates a Magnus-force model with the given coefficient.
double	magnusCoefficient () const
	Returns the current Magnus coefficient.
void	setMagnusCoefficient (double coefficient)
	Updates the Magnus coefficient used by computeForce().
Vector3	computeForce (const Vector3 &velocity_mps, const Vector3 &spin_radps) const
	Computes the lift force produced by the supplied velocity and spin.

Detailed Description

Computes a Magnus lift force from linear velocity and spin.

This model is intentionally small: it just wraps the shared Vector3::magnusForce helper behind a configurable scalar coefficient so the same lift formulation can be reused by game-piece, shot, and simulation code without duplicating the cross-product math.

The input vectors use the world frame convention used throughout JSim and WPILib: +X points away from the blue alliance wall downfield, +Y points to the left when looking from the blue alliance end, and +Z points upward.

Constructor & Destructor Documentation

MagnusModel()

frcsim::MagnusModel::MagnusModel ( double magnus_coefficient = 1.0e-4 )

inlineexplicit

Creates a Magnus-force model with the given coefficient.

Parameters

magnus_coefficient

Scalar applied to the omega x v lift term. The default matches the rest of the physics code and is tuned for SI inputs (meters per second and radians per second).

Member Function Documentation

computeForce()

Vector3 frcsim::MagnusModel::computeForce ( const Vector3 & velocity_mps, const Vector3 & spin_radps ) const

inline

Computes the lift force produced by the supplied velocity and spin.

Parameters

velocity_mps	Linear velocity vector in meters per second, expressed in the world frame.
spin_radps	Angular velocity vector in radians per second, expressed in the same frame as velocity_mps. Both vectors must be expressed in the same reference frame, because the result is the cross product omega x v scaled by the model coefficient. The returned force uses the model F = k * (omega x v), where k is magnusCoefficient().

Returns

Magnus force vector in newtons.

magnusCoefficient()

double frcsim::MagnusModel::magnusCoefficient ( ) const

inline

Returns the current Magnus coefficient.

setMagnusCoefficient()

void frcsim::MagnusModel::setMagnusCoefficient ( double coefficient )

inline

Updates the Magnus coefficient used by computeForce().

Parameters

coefficient

New scalar multiplier for the lift term.

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

• src/main/driver/include/frcsim/aerodynamics/magnus_model.hpp