Gives white noise at specified amplitude. More...

#include <dither.h>

Public Member Functions
	Dither ()

bool	init (const double &amplitude, const double &seed)

double	update ()
	Get next Gaussian white noise point. Called in RT loop. More...

	~Dither ()
	Destructor. More...

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.

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.

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.

Definition at line 50 of file dither.cpp.

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.

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