sine_sweep.h

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#ifndef CTRL_TOOLBOX_SINESWEEP_H
#define CTRL_TOOLBOX_SINESWEEP_H

#include <ros/ros.h>

namespace control_toolbox {
/***************************************************/
/***************************************************/

class SineSweep
{
public:

  SineSweep();

  ~SineSweep();

  double update(ros::Duration dt);

  bool init(double start_freq, double end_freq, double duration, double amplitude);

private:
  double amplitude_;                        
  ros::Duration duration_;                  
  double start_angular_freq_;               
  double end_angular_freq_;                 
  double K_;                                
  double L_;                                
  double cmd_;                              
};
}

#endif