sine_sweep.h
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34 
35 
36 #ifndef CONTROL_TOOLBOX__SINESWEEP_H
37 #define CONTROL_TOOLBOX__SINESWEEP_H
38 
39 #include <ros/ros.h>
40 
41 namespace control_toolbox {
42 /***************************************************/
58 /***************************************************/
59 
60 class SineSweep
61 {
62 public:
63 
67  SineSweep();
68 
72  ~SineSweep();
73 
79  double update(ros::Duration dt);
80 
89  bool init(double start_freq, double end_freq, double duration, double amplitude);
90 
91 private:
92  double amplitude_;
94  double start_angular_freq_;
95  double end_angular_freq_;
96  double K_;
97  double L_;
98  double cmd_;
99 };
100 }
101 
102 #endif
control_toolbox::SineSweep::duration_
ros::Duration duration_
Definition: sine_sweep.h:125
control_toolbox::SineSweep::start_angular_freq_
double start_angular_freq_
Definition: sine_sweep.h:126
ros.h
control_toolbox::SineSweep::update
double update(ros::Duration dt)
Update the SineSweep loop with nonuniform time step size.
Definition: sine_sweep.cpp:110
control_toolbox::SineSweep::cmd_
double cmd_
Definition: sine_sweep.h:130
control_toolbox::SineSweep::amplitude_
double amplitude_
Definition: sine_sweep.h:124
control_toolbox::SineSweep::L_
double L_
Definition: sine_sweep.h:129
control_toolbox::SineSweep::~SineSweep
~SineSweep()
Destructor.
Definition: sine_sweep.cpp:83
control_toolbox::SineSweep::init
bool init(double start_freq, double end_freq, double duration, double amplitude)
Intializes everything and calculates the constants for the sweep.
Definition: sine_sweep.cpp:87
control_toolbox::SineSweep::K_
double K_
Definition: sine_sweep.h:128
control_toolbox::SineSweep::SineSweep
SineSweep()
Constructor.
Definition: sine_sweep.cpp:74
control_toolbox::SineSweep::end_angular_freq_
double end_angular_freq_
Definition: sine_sweep.h:127
control_toolbox
Definition: dither.h:46
ros::Duration


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:09:47