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 $\omega_1$ to $\omega_2$ over $T$ seconds.

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

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

Definition at line 60 of file sine_sweep.h.

Constructor & Destructor Documentation

control_toolbox::SineSweep::SineSweep ( )

Constructor.

Definition at line 42 of file sine_sweep.cpp.

control_toolbox::SineSweep::~SineSweep ( )

Destructor.

Definition at line 51 of file sine_sweep.cpp.

Member Function Documentation

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, $\omega_1$ .
end_freq	End frequency of the sweep, $\omega_2$ .
duration	The duration of the sweep, .
amplitude	The amplitude of the sweep, .

Definition at line 55 of file sine_sweep.cpp.

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 78 of file sine_sweep.cpp.

Member Data Documentation

double control_toolbox::SineSweep::amplitude_

private

Amplitude of the sweep.

Definition at line 92 of file sine_sweep.h.

double control_toolbox::SineSweep::cmd_

private

Command to send.

Definition at line 98 of file sine_sweep.h.

ros::Duration control_toolbox::SineSweep::duration_

private

Duration of the sweep.

Definition at line 93 of file sine_sweep.h.

double control_toolbox::SineSweep::end_angular_freq_

private

End angular frequency of the sweep.

Definition at line 95 of file sine_sweep.h.

double control_toolbox::SineSweep::K_

private

Constant $K$ .

Definition at line 96 of file sine_sweep.h.

double control_toolbox::SineSweep::L_

private

Constant $L$ .

Definition at line 97 of file sine_sweep.h.

double control_toolbox::SineSweep::start_angular_freq_

private

Start angular frequency of the sweep.

Definition at line 94 of file sine_sweep.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation