sinusoid.cpp
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34 
38 #include <cmath>
39 #include <iostream>
40 
41 using namespace std;
42 
43 namespace control_toolbox
44 {
45 
46 Sinusoid::Sinusoid(double offset, double amplitude, double frequency, double phase):
47  offset_(offset),
48  amplitude_(amplitude),
49  frequency_(frequency),
50  phase_(phase)
51 {
52 }
53 
54 bool Sinusoid::initXml(TiXmlElement *ti_xml_element)
55 {
56  const char* attr;
57  attr = ti_xml_element->Attribute("offset");
58  offset_ = attr ? atof(attr) : 0.0;
59  attr = ti_xml_element->Attribute("amplitude");
60  amplitude_ = attr ? atof(attr) : 0.0;
61  attr = ti_xml_element->Attribute("frequency");
62  frequency_ = attr ? atof(attr) : 0.0;
63  attr = ti_xml_element->Attribute("phase");
64  phase_ = attr ? atof(attr) : 0.0;
65  return true; // does not fail for now, we assume a default of 0 for all params
66 }
67 
69 {
70 }
71 
73 {
74 }
75 
76 double Sinusoid::update(double time, double& qd, double& qdd)
77 {
78  double angular_frequency = 2.0*M_PI*frequency_;
79  double p = phase_ + angular_frequency*time;
80  double sin_p = sin(p);
81  double cos_p = cos(p);
82  double q = offset_ + amplitude_*sin_p;
83  qd = angular_frequency*amplitude_*cos_p;
84  qdd = -angular_frequency*angular_frequency*amplitude_*sin_p;
85  return q;
86 }
87 
89 {
90  cout << "offset=" << offset_ << " amplitude=" << amplitude_ << " phase=" << phase_ << " frequency=" << frequency_ << endl;
91 }
92 
93 } // namespace control_toolbox
bool initXml(TiXmlElement *ti_xml_element)
Initializes the parameters of the sine wave from the given xml element.
Definition: sinusoid.cpp:54
Sinusoid()
Constructor.
Definition: sinusoid.cpp:72
double update(double time, double &qd, double &qdd)
Gets the value and derivatives of the sinusoid at a given time.
Definition: sinusoid.cpp:76


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:11:48