Class SineSweep

Class Documentation

class SineSweep

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 \(\omega_1\) to \(\omega_2\) over \(T\) seconds.

\(s(n) = A \sin [ K(e^{\delta t/L} - 1) ]\)

where:\(K = \frac{\omega_1T}{\ln \frac{\omega_2}{\omega_1} }\)\(L = \frac{T}{\ln \frac{\omega_2}{\omega_1} }\).

Public Functions

SineSweep()

Constructor.

double update(rclcpp::Duration dt)

Update the SineSweep loop with nonuniform time step size.

Parameters:

dt – Change in time since last call

bool init(double start_freq, double end_freq, double duration, double amplitude)

Initializes everything and calculates the constants for the sweep.

Parameters:

  • start_freq – Start frequency of the sweep, \(\omega_1\) .

  • end_freq – End frequency of the sweep, \(\omega_2\).

  • duration – The duration of the sweep, \(T\).

  • amplitude – The amplitude of the sweep, \(A\).