sinusoid.h
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34 
37 #ifndef CONTROL_TOOLBOX__SINUSOID_H_
38 #define CONTROL_TOOLBOX__SINUSOID_H_
39 
40 #include <tinyxml.h>
41 
42 namespace control_toolbox
43 {
44 
53 class Sinusoid
54 {
55 public:
59  Sinusoid();
60 
69  Sinusoid(double offset, double amplitude, double frequency, double phase);
70 
74  virtual ~Sinusoid();
75 
82  bool initXml(TiXmlElement *ti_xml_element);
83 
87  void debug();
88 
97  double update(double time, double& qd, double& qdd);
98 
99 private:
100  double offset_;
101  double amplitude_;
102  double frequency_;
103  double phase_;
104 };
105 
106 }
107 
108 #endif /* SINUSOID_H_ */
A basic sine class.
Definition: sinusoid.h:53
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