sinusoid.h
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00034 
00037 #ifndef CONTROL_TOOLBOX__SINUSOID_H_
00038 #define CONTROL_TOOLBOX__SINUSOID_H_
00039 
00040 #include <iostream>
00041 #include <tinyxml.h>
00042 
00043 namespace control_toolbox
00044 {
00045 
00054 class Sinusoid
00055 {
00056 public:
00060   Sinusoid();
00061 
00070   Sinusoid(double offset, double amplitude, double frequency, double phase);
00071 
00075   virtual ~Sinusoid();
00076 
00083   bool initXml(TiXmlElement *ti_xml_element);
00084 
00088   void debug();
00089 
00098   double update(double time, double& qd, double& qdd);
00099 
00100 private:
00101   double offset_;               
00102   double amplitude_;            
00103   double frequency_;            
00104   double phase_;                
00105 };
00106 
00107 }
00108 
00109 #endif /* SINUSOID_H_ */


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Fri Apr 15 2016 15:39:29