spin_decay_model.hpp File Reference

Models angular velocity evolution with damping and Magnus coupling. More...

#include <cmath>
#include "frcsim/math/vector.hpp"
#include "frcsim/math/matrix.hpp"
#include "frcsim/math/quaternion.hpp"
#include "frcsim/aerodynamics/magnus_model.hpp"

Go to the source code of this file.

Classes
class	frcsim::aerodynamics::SpinDecayModel

Namespaces
namespace	frcsim
namespace	frcsim::aerodynamics

Detailed Description

Models angular velocity evolution with damping and Magnus coupling.

This class integrates rotational dynamics for a spinning object using:

• Linear angular damping
• Velocity-coupled damping
• Nonlinear (angular magnitude) damping
• Magnus-induced torque via an external MagnusModel

The model operates by transforming angular velocity into world space, applying forces and torques, integrating forward in time, and transforming back into body space.

Note

This class does NOT recompute drag or Magnus forces manually. It delegates Magnus force computation to MagnusModel.