sine_sweep.cpp
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34 
35 // Original version: Melonee Wise <mwise@willowgarage.com>
36 
37 #include <math.h>
39 
40 namespace control_toolbox {
41 
43 {
44  K_=0.0;
45  L_=0.0;
46  amplitude_=0.0;
47  duration_ = ros::Duration(0.0);
48  cmd_ = 0.0;
49 }
50 
52 {
53 }
54 
55 bool SineSweep::init(double start_freq, double end_freq, double duration, double amplitude)
56 {
57  if (start_freq > end_freq)
58  return false;
59  if (duration < 0 || amplitude < 0)
60  return false;
61 
62  amplitude_ = amplitude;
63  duration_ = ros::Duration(duration);
64  //calculate the angular fequencies
65  start_angular_freq_ =2*M_PI*start_freq;
66  end_angular_freq_ =2*M_PI*end_freq;
67 
68  //calculate the constants
70  L_ = (duration)/log(end_angular_freq_/start_angular_freq_);
71 
72  //zero out the command
73  cmd_ = 0.0;
74 
75  return true;
76 }
77 
79 {
80  if(dt<=duration_)
81  {
82  cmd_= amplitude_*sin(K_*(exp((dt.toSec())/(L_))-1));
83  }
84  else
85  {
86  cmd_=0.0;
87  }
88 
89  return cmd_;
90 }
91 }
92 
control_toolbox::SineSweep::duration_
ros::Duration duration_
Definition: sine_sweep.h:125
control_toolbox::SineSweep::start_angular_freq_
double start_angular_freq_
Definition: sine_sweep.h:126
control_toolbox::SineSweep::update
double update(ros::Duration dt)
Update the SineSweep loop with nonuniform time step size.
Definition: sine_sweep.cpp:110
control_toolbox::SineSweep::cmd_
double cmd_
Definition: sine_sweep.h:130
control_toolbox::SineSweep::amplitude_
double amplitude_
Definition: sine_sweep.h:124
control_toolbox::SineSweep::L_
double L_
Definition: sine_sweep.h:129
control_toolbox::SineSweep::~SineSweep
~SineSweep()
Destructor.
Definition: sine_sweep.cpp:83
control_toolbox::SineSweep::init
bool init(double start_freq, double end_freq, double duration, double amplitude)
Intializes everything and calculates the constants for the sweep.
Definition: sine_sweep.cpp:87
control_toolbox::SineSweep::K_
double K_
Definition: sine_sweep.h:128
control_toolbox::SineSweep::SineSweep
SineSweep()
Constructor.
Definition: sine_sweep.cpp:74
sine_sweep.h
control_toolbox::SineSweep::end_angular_freq_
double end_angular_freq_
Definition: sine_sweep.h:127
DurationBase< Duration >::toSec
double toSec() const
control_toolbox
Definition: dither.h:46
ros::Duration


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:09:47