sine_sweep.h

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#ifndef CONTROL_TOOLBOX__SINESWEEP_H
#define CONTROL_TOOLBOX__SINESWEEP_H
 
#include <ros/ros.h>
 
namespace control_toolbox {
/***************************************************/
/***************************************************/
 
class SineSweep
{
public:
 
  SineSweep();
 
  ~SineSweep();
 
  double update(ros::Duration dt);
 
  bool init(double start_freq, double end_freq, double duration, double amplitude);
 
private:
  double amplitude_;                        
  ros::Duration duration_;                  
  double start_angular_freq_;               
  double end_angular_freq_;                 
  double K_;                                
  double L_;                                
  double cmd_;                              
};
}
 
#endif