control_toolbox::SineSweep Class Reference

Generates a sine sweep for frequency analysis of a joint. More...

#include <sine_sweep.h>

Public Member Functions
bool	init (double start_freq, double end_freq, double duration, double amplitude)
	Intializes everything and calculates the constants for the sweep. More...
	SineSweep ()
	Constructor. More...
double	update (ros::Duration dt)
	Update the SineSweep loop with nonuniform time step size. More...
	~SineSweep ()
	Destructor. More...

Private Attributes
double	amplitude_
double	cmd_
ros::Duration	duration_
double	end_angular_freq_
double	K_
double	L_
double	start_angular_freq_

Detailed Description

Generates a sine sweep for frequency analysis of a joint.

This class basically calculates the output for a sine sweep. Where the signal is a sine wave, whose frequency is exponentially increased from to over seconds.

where:

.

Definition at line 92 of file sine_sweep.h.

Constructor & Destructor Documentation

SineSweep()

control_toolbox::SineSweep::SineSweep

(

)

Constructor.

Definition at line 74 of file sine_sweep.cpp.

~SineSweep()

control_toolbox::SineSweep::~SineSweep

(

)

Destructor.

Definition at line 83 of file sine_sweep.cpp.

Member Function Documentation

init()

bool control_toolbox::SineSweep::init	(	double	start_freq,
		double	end_freq,
		double	duration,
		double	amplitude
	)

Intializes everything and calculates the constants for the sweep.

Parameters

start_freq	Start frequency of the sweep, .
end_freq	End frequency of the sweep, .
duration	The duration of the sweep, .
amplitude	The amplitude of the sweep, .

Definition at line 87 of file sine_sweep.cpp.

update()

double control_toolbox::SineSweep::update

(

ros::Duration

dt

)

Update the SineSweep loop with nonuniform time step size.

Parameters

dt	Change in time since last call

Definition at line 110 of file sine_sweep.cpp.

Member Data Documentation

amplitude_

double control_toolbox::SineSweep::amplitude_

private

Amplitude of the sweep.

Definition at line 124 of file sine_sweep.h.

cmd_

double control_toolbox::SineSweep::cmd_

private

Command to send.

Definition at line 130 of file sine_sweep.h.

duration_

ros::Duration control_toolbox::SineSweep::duration_

private

Duration of the sweep.

Definition at line 125 of file sine_sweep.h.

end_angular_freq_

double control_toolbox::SineSweep::end_angular_freq_

private

End angular frequency of the sweep.

Definition at line 127 of file sine_sweep.h.

K_

double control_toolbox::SineSweep::K_

private

Constant .

Definition at line 128 of file sine_sweep.h.

L_

double control_toolbox::SineSweep::L_

private

Constant .

Definition at line 129 of file sine_sweep.h.

start_angular_freq_

double control_toolbox::SineSweep::start_angular_freq_

private

Start angular frequency of the sweep.

Definition at line 126 of file sine_sweep.h.

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

• sine_sweep.h
• sine_sweep.cpp