control_toolbox::SineSweep Class Reference

Generates a sine sweep for frequency analysis of a joint. More...

#include <sine_sweep.h>

Public Member Functions
bool	init (double start_freq, double end_freq, double duration, double amplitude)
	Intializes everything and calculates the constants for the sweep.
	SineSweep ()
	Constructor.
double	update (ros::Duration dt)
	Update the SineSweep loop with nonuniform time step size.
	~SineSweep ()
	Destructor.
Private Attributes
double	amplitude_
double	cmd_
ros::Duration	duration_
double	end_angular_freq_
double	K_
double	L_
double	start_angular_freq_

Detailed Description

Generates a sine sweep for frequency analysis of a joint.

This class basically calculates the output for a sine sweep. Where the signal is a sine wave, whose frequency is exponentially increased from $\omega_1$ to $\omega_2$ over $T$ seconds.

$s(n) = A \sin [ K(e^{\delta t/L} - 1) ]$

where:
$K = \frac{\omega_1T}{\ln \frac{\omega_2}{\omega_1} }$
$L = \frac{T}{\ln \frac{\omega_2}{\omega_1} }$ .

Definition at line 60 of file sine_sweep.h.

Constructor & Destructor Documentation

control_toolbox::SineSweep::SineSweep ( )

Constructor.

Definition at line 41 of file sine_sweep.cpp.

control_toolbox::SineSweep::~SineSweep ( )

Destructor.

Definition at line 50 of file sine_sweep.cpp.

Member Function Documentation

bool control_toolbox::SineSweep::init	(	double	start_freq,
		double	end_freq,
		double	duration,
		double	amplitude
	)

Intializes everything and calculates the constants for the sweep.

Parameters:

	start_freq	Start frequency of the sweep, $\omega_1$ .
	end_freq	End frequency of the sweep, $\omega_2$ .
	duration	The duration of the sweep, .
	amplitude	The amplitude of the sweep, .