Program Listing for File sine_sweep.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CONTROL_TOOLBOX__SINE_SWEEP_HPP_
#define CONTROL_TOOLBOX__SINE_SWEEP_HPP_

#include <rclcpp/duration.hpp>

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

class SineSweep
{
public:
  SineSweep();

  double update(rclcpp::Duration dt);

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

private:
  double amplitude_;
  rclcpp::Duration duration_;
  double start_angular_freq_;
  double end_angular_freq_;
  double K_;
  double L_;
  double cmd_;
};
}  // namespace control_toolbox

#endif  // CONTROL_TOOLBOX__SINE_SWEEP_HPP_