sine_sweep.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 // Original version: Melonee Wise <mwise@willowgarage.com>
00036 
00037 #include <math.h>
00038 #include <control_toolbox/sine_sweep.h>
00039 
00040 namespace control_toolbox {
00041 
00042 SineSweep::SineSweep()
00043 {
00044   K_=0.0;
00045   L_=0.0;
00046   amplitude_=0.0;
00047   duration_ = ros::Duration(0.0);
00048   cmd_ = 0.0;
00049 }
00050 
00051 SineSweep::~SineSweep()
00052 {
00053 }
00054 
00055 bool SineSweep::init(double start_freq, double end_freq, double duration, double amplitude)
00056 {
00057   if (start_freq > end_freq)
00058     return false;
00059   if (duration < 0 || amplitude < 0)
00060     return false;
00061   
00062   amplitude_ = amplitude;
00063   duration_ = ros::Duration(duration);
00064   //calculate the angular fequencies
00065   start_angular_freq_ =2*M_PI*start_freq;
00066   end_angular_freq_ =2*M_PI*end_freq;
00067   
00068   //calculate the constants
00069   K_ = (start_angular_freq_*duration)/log(end_angular_freq_/start_angular_freq_);
00070   L_ = (duration)/log(end_angular_freq_/start_angular_freq_);
00071   
00072   //zero out the command
00073   cmd_ = 0.0;
00074 
00075   return true;
00076 }
00077 
00078 double SineSweep::update( ros::Duration dt)
00079 {
00080   if(dt<=duration_)
00081   {
00082     cmd_= amplitude_*sin(K_*(exp((dt.toSec())/(L_))-1));
00083   }
00084   else
00085   {
00086     cmd_=0.0;
00087   }
00088 
00089   return cmd_;
00090 }
00091 }
00092 


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Thu Apr 24 2014 15:44:31