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_ |

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 to over seconds.

where:

.

Definition at line 60 of file sine_sweep.h.

Constructor.

Definition at line 42 of file sine_sweep.cpp.

Destructor.

Definition at line 51 of file sine_sweep.cpp.

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, . end_freq End frequency of the sweep, . duration The duration of the sweep, . amplitude The amplitude of the sweep, .

Definition at line 55 of file sine_sweep.cpp.

double control_toolbox::SineSweep::update | ( | ros::Duration | dt | ) |

Update the SineSweep loop with nonuniform time step size.

**Parameters:**-
dt Change in time since last call

Definition at line 78 of file sine_sweep.cpp.

double control_toolbox::SineSweep::amplitude_` [private]` |

Amplitude of the sweep.

Definition at line 92 of file sine_sweep.h.

double control_toolbox::SineSweep::cmd_` [private]` |

Command to send.

Definition at line 98 of file sine_sweep.h.

Duration of the sweep.

Definition at line 93 of file sine_sweep.h.

double control_toolbox::SineSweep::end_angular_freq_` [private]` |

End angular frequency of the sweep.

Definition at line 95 of file sine_sweep.h.

double control_toolbox::SineSweep::K_` [private]` |

Constant .

Definition at line 96 of file sine_sweep.h.

double control_toolbox::SineSweep::L_` [private]` |

Constant .

Definition at line 97 of file sine_sweep.h.

double control_toolbox::SineSweep::start_angular_freq_` [private]` |

Start angular frequency of the sweep.

Definition at line 94 of file sine_sweep.h.

The documentation for this class was generated from the following files:

control_toolbox

Author(s): Melonee Wise, Sachin Chitta, John Hsu

autogenerated on Fri Jan 3 2014 11:41:22

Author(s): Melonee Wise, Sachin Chitta, John Hsu

autogenerated on Fri Jan 3 2014 11:41:22