sine_sweep.cpp
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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 Fri Apr 15 2016 15:39:29