sine_sweep.h
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00034 
00035 
00036 #ifndef CTRL_TOOLBOX_SINESWEEP_H
00037 #define CTRL_TOOLBOX_SINESWEEP_H
00038 
00039 #include <ros/ros.h>
00040 
00041 namespace control_toolbox {
00042 /***************************************************/
00058 /***************************************************/
00059 
00060 class SineSweep
00061 {
00062 public:
00063 
00067   SineSweep();
00068 
00072   ~SineSweep();
00073 
00079   double update(ros::Duration dt);
00080 
00089   bool init(double start_freq, double end_freq, double duration, double amplitude);
00090 
00091 private:
00092   double amplitude_;                        
00093   ros::Duration duration_;                  
00094   double start_angular_freq_;               
00095   double end_angular_freq_;                 
00096   double K_;                                
00097   double L_;                                
00098   double cmd_;                              
00099 };
00100 }
00101 
00102 #endif


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Fri Jan 3 2014 11:41:22