frcsim::aerodynamics::SpinDecayModel Class Reference

#include <spin_decay_model.hpp>

Public Member Functions
	SpinDecayModel (const MagnusModel &magnus_model=MagnusModel())
	Constructs a spin decay model.
Vector3	step (const Vector3 &omegaLocal, const Vector3 &velocityWorld, const Quaternion &orientation, double dt) const noexcept
	Advances angular velocity forward in time.
void	setLinearDecay (double k) noexcept
	Sets linear angular decay coefficient.
void	setVelocityCoupling (double k) noexcept
	Sets velocity-coupled damping coefficient.
void	setNonlinearDecay (double k) noexcept
	Sets nonlinear angular decay coefficient.
void	setRadiusVector (const Vector3 &r) noexcept
	Sets radius (lever arm) used for Magnus torque calculation.

Constructor & Destructor Documentation

SpinDecayModel()

frcsim::aerodynamics::SpinDecayModel::SpinDecayModel ( const MagnusModel & magnus_model = MagnusModel() )

inlineexplicit

Constructs a spin decay model.

Parameters

magnus_model

External Magnus force model used for torque coupling

Note

Explicit to prevent unintended implicit conversions.

Member Function Documentation

setLinearDecay()

void frcsim::aerodynamics::SpinDecayModel::setLinearDecay ( double k )

inlinenoexcept

Sets linear angular decay coefficient.

Parameters

k	Linear damping coefficient

setNonlinearDecay()

void frcsim::aerodynamics::SpinDecayModel::setNonlinearDecay ( double k )

inlinenoexcept

Sets nonlinear angular decay coefficient.

Parameters

k	Nonlinear damping coefficient (scales with angular magnitude)

setRadiusVector()

void frcsim::aerodynamics::SpinDecayModel::setRadiusVector ( const Vector3 & r )

inlinenoexcept

Sets radius (lever arm) used for Magnus torque calculation.

Parameters

r	Radius vector in body frame

setVelocityCoupling()

void frcsim::aerodynamics::SpinDecayModel::setVelocityCoupling ( double k )

inlinenoexcept

Sets velocity-coupled damping coefficient.

Parameters

k	Coupling coefficient with linear velocity magnitude

step()

Vector3 frcsim::aerodynamics::SpinDecayModel::step ( const Vector3 & omegaLocal, const Vector3 & velocityWorld, const Quaternion & orientation, double dt ) const

inlinenoexcept

Advances angular velocity forward in time.

Performs:

• Frame transformation (body → world)
• Damping calculations (linear, velocity-coupled, nonlinear)
• Magnus torque computation via MagnusModel
• Time integration in world frame
• Transformation back to body frame

Parameters

omegaLocal	Angular velocity in body frame
velocityWorld	Linear velocity in world frame
orientation	Body orientation as quaternion
dt	Time step (seconds)

Returns

Updated angular velocity in body frame

Linear damping proportional to angular velocity

Velocity-coupled damping scales with linear speed

Nonlinear damping scales with angular magnitude

Magnus force computed from external model. This avoids duplicating aerodynamic logic.

Torque generated via lever arm cross force

---

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

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