control_toolbox::Sinusoid Class Reference

A basic sine class. More...

#include <sinusoid.h>

Public Member Functions
void	debug ()
bool	initXml (TiXmlElement *ti_xml_element)
	Initializes the parameters of the sine wave from the given xml element. More...
	Sinusoid ()
	Constructor. More...
	Sinusoid (double offset, double amplitude, double frequency, double phase)
	Constructor which intializes values. More...
double	update (double time, double &qd, double &qdd)
	Gets the value and derivatives of the sinusoid at a given time. More...
virtual	~Sinusoid ()

Private Attributes
double	amplitude_
double	frequency_
double	offset_
double	phase_

Detailed Description

A basic sine class.

This class calculates the output for a sine wave and its derivatives, given the amplitude, phase, frequency and offset.

Definition at line 54 of file sinusoid.h.

Constructor & Destructor Documentation

control_toolbox::Sinusoid::Sinusoid

(

)

Constructor.

Definition at line 72 of file sinusoid.cpp.

control_toolbox::Sinusoid::Sinusoid	(	double	offset,
		double	amplitude,
		double	frequency,
		double	phase
	)

Constructor which intializes values.

Parameters

offset	A DC offset to be added to the sine wave
amplitude	Amplitude of the sine wave
frequency	Frequency of the sine wave
phase	Phase (in radians) of the sine wave at t=0

Definition at line 46 of file sinusoid.cpp.

control_toolbox::Sinusoid::~Sinusoid ( )

virtual

Destructor

Definition at line 68 of file sinusoid.cpp.

Member Function Documentation

void control_toolbox::Sinusoid::debug

(

)

Prints the parameters of the sine wave to stdout (for debugging)

Definition at line 88 of file sinusoid.cpp.

bool control_toolbox::Sinusoid::initXml

(

TiXmlElement *

ti_xml_element

)

Initializes the parameters of the sine wave from the given xml element.

Parameters

ti_xml_element

This XML element needs to contain the following attributes: offset, amplitude, frequency, phase

Returns

true if successful, false if not

Definition at line 54 of file sinusoid.cpp.

double control_toolbox::Sinusoid::update	(	double	time,
		double &	qd,
		double &	qdd
	)

Gets the value and derivatives of the sinusoid at a given time.

Parameters

time	Time at which to sample the sine wave
qd	(output) The derivative of the sine wave
qdd	(output) Second derivative of the sine wave

Returns

The sampled value of the sine wave

Definition at line 76 of file sinusoid.cpp.

Member Data Documentation

double control_toolbox::Sinusoid::amplitude_

private

Amplitude of the sine wave.

Definition at line 102 of file sinusoid.h.

double control_toolbox::Sinusoid::frequency_

private

Frequency of the sine wave.

Definition at line 103 of file sinusoid.h.

double control_toolbox::Sinusoid::offset_

private

DC offset of the sine wave.

Definition at line 101 of file sinusoid.h.

double control_toolbox::Sinusoid::phase_

private

Phase of the sine wave at t=0.

Definition at line 104 of file sinusoid.h.

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

• sinusoid.h
• sinusoid.cpp