sinusoid.h

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#ifndef CONTROL_TOOLBOX__SINUSOID_H_
#define CONTROL_TOOLBOX__SINUSOID_H_

#include <iostream>
#include <tinyxml.h>

namespace control_toolbox
{

class Sinusoid
{
public:
  Sinusoid();

  Sinusoid(double offset, double amplitude, double frequency, double phase);

  virtual ~Sinusoid();

  bool initXml(TiXmlElement *ti_xml_element);

  void debug();

  double update(double time, double& qd, double& qdd);

private:
  double offset_;               
  double amplitude_;            
  double frequency_;            
  double phase_;                
};

}

#endif /* SINUSOID_H_ */