control_toolbox::Dither Class Reference

Gives white noise at specified amplitude. More...

#include <dither.h>

List of all members.

Public Member Functions
	Dither ()
bool	init (const double &amplitude, const double &seed)
double	update ()
	Get next Gaussian white noise point. Called in RT loop.
	~Dither ()
	Destructor.
Private Attributes
double	amplitude_
bool	has_saved_value_
double	s_
double	saved_value_
unsigned short	seed_ [3]
double	x_

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Detailed Description

Gives white noise at specified amplitude.

This class gives white noise at the given amplitude when update() is called. It can be used to vibrate joints or to break static friction.

Definition at line 57 of file dither.h.

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Constructor & Destructor Documentation

control_toolbox::Dither::Dither

(

)

Definition at line 41 of file dither.cpp.

control_toolbox::Dither::~Dither

(

)

Destructor.

Definition at line 46 of file dither.cpp.

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Member Function Documentation

bool control_toolbox::Dither::init	(	const double &	amplitude,
		const double &	seed
	)		[inline]

Definition at line 80 of file dither.h.

double control_toolbox::Dither::update

(

)

Get next Gaussian white noise point. Called in RT loop.

Returns:

White noise of given amplitude.

Definition at line 50 of file dither.cpp.

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Member Data Documentation

double control_toolbox::Dither::amplitude_ [private]

Amplitude of the sweep.

Definition at line 103 of file dither.h.

bool control_toolbox::Dither::has_saved_value_ [private]

Definition at line 105 of file dither.h.

double control_toolbox::Dither::s_ [private]

Definition at line 106 of file dither.h.

double control_toolbox::Dither::saved_value_ [private]

Definition at line 104 of file dither.h.

unsigned short control_toolbox::Dither::seed_[3] [private]

Definition at line 108 of file dither.h.

double control_toolbox::Dither::x_ [private]

Definition at line 107 of file dither.h.

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

• dither.h
• dither.cpp