frcsim::Integrator Struct Reference

Time-integration helpers for translational and rotational rigid-body dynamics. More...

#include <integrators.hpp>

Static Public Member Functions
static void	integrateLinear (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, double dt) noexcept
static void	integrateLinearExplicit (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, double dt) noexcept
static void	integrateAngular (Quaternion &orientation, const Vector3 &angularVelocity, double dt) noexcept
static void	integrateAngularVelocity (Vector3 &angularVelocity, const Vector3 &angularAcceleration, double dt) noexcept
static void	integrateLinearRK2 (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, double dt) noexcept

Detailed Description

Time-integration helpers for translational and rotational rigid-body dynamics.

This utility exposes explicit Euler, semi-implicit (symplectic) Euler, and midpoint RK2 variants for linear motion, plus quaternion-based angular integration using q_dot = 0.5 * omega_quat * q.

References: https://en.wikipedia.org/wiki/Semi-implicit_Euler_method https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods https://en.wikipedia.org/wiki/Quaternion#Using_quaternions_as_rotations

Member Function Documentation

integrateAngular()

void frcsim::Integrator::integrateAngular ( Quaternion & orientation, const Vector3 & angularVelocity, double dt )

inlinestaticnoexcept

integrateAngularVelocity()

void frcsim::Integrator::integrateAngularVelocity ( Vector3 & angularVelocity, const Vector3 & angularAcceleration, double dt )

inlinestaticnoexcept

integrateLinear()

void frcsim::Integrator::integrateLinear ( Vector3 & position, Vector3 & velocity, const Vector3 & acceleration, double dt )

inlinestaticnoexcept

integrateLinearExplicit()

void frcsim::Integrator::integrateLinearExplicit ( Vector3 & position, Vector3 & velocity, const Vector3 & acceleration, double dt )

inlinestaticnoexcept

integrateLinearRK2()

void frcsim::Integrator::integrateLinearRK2 ( Vector3 & position, Vector3 & velocity, const Vector3 & acceleration, double dt )

inlinestaticnoexcept

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

• src/main/driver/include/frcsim/math/integrators.hpp