control_toolbox::Dither Class Reference

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...

Static Public Member Functions
static double	generateRandomSeed ()

Private Attributes
double	amplitude_
std::mt19937	generator_
bool	has_saved_value_
double	s_
double	saved_value_
double	x_

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 58 of file dither.h.

Constructor & Destructor Documentation

Dither()

control_toolbox::Dither::Dither

(

)

Definition at line 43 of file dither.cpp.

~Dither()

control_toolbox::Dither::~Dither

(

)

Destructor.

Definition at line 48 of file dither.cpp.

Member Function Documentation

generateRandomSeed()

static double control_toolbox::Dither::generateRandomSeed ( )

inlinestatic

Definition at line 100 of file dither.h.

init()

bool control_toolbox::Dither::init ( const double &  amplitude, const double &  seed  )

inline

Definition at line 81 of file dither.h.

update()

double control_toolbox::Dither::update

(

)

Get next Gaussian white noise point. Called in RT loop.

Returns

White noise of given amplitude.

Definition at line 52 of file dither.cpp.

Member Data Documentation

amplitude_

double control_toolbox::Dither::amplitude_

private

Amplitude of the sweep.

Definition at line 108 of file dither.h.

generator_

std::mt19937 control_toolbox::Dither::generator_

private

random number generator for white noise.

Definition at line 113 of file dither.h.

has_saved_value_

bool control_toolbox::Dither::has_saved_value_

private

Definition at line 110 of file dither.h.

s_

double control_toolbox::Dither::s_

private

Definition at line 111 of file dither.h.

saved_value_

double control_toolbox::Dither::saved_value_

private

Definition at line 109 of file dither.h.

x_

double control_toolbox::Dither::x_

private

Definition at line 112 of file dither.h.

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

• dither.h
• dither.cpp