sinusoid.h

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#ifndef CONTROL_TOOLBOX__SINUSOID_H_
#define CONTROL_TOOLBOX__SINUSOID_H_
 
#include <tinyxml.h>
 
namespace control_toolbox
{
 
class Sinusoid
{
public:
  Sinusoid();
 
  Sinusoid(double offset, double amplitude, double frequency, double phase);
 
  virtual ~Sinusoid();
 
  bool initXml(TiXmlElement *ti_xml_element);
 
  void debug();
 
  double update(double time, double& qd, double& qdd);
 
private:
  double offset_;               
  double amplitude_;            
  double frequency_;            
  double phase_;                
};
 
}
 
#endif /* SINUSOID_H_ */