sine_sweep.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 // Original version: Melonee Wise <mwise@willowgarage.com>
36 
37 #include <math.h>
39 
40 namespace control_toolbox {
41 
43 {
44  K_=0.0;
45  L_=0.0;
46  amplitude_=0.0;
47  duration_ = ros::Duration(0.0);
48  cmd_ = 0.0;
49 }
50 
52 {
53 }
54 
55 bool SineSweep::init(double start_freq, double end_freq, double duration, double amplitude)
56 {
57  if (start_freq > end_freq)
58  return false;
59  if (duration < 0 || amplitude < 0)
60  return false;
61 
62  amplitude_ = amplitude;
63  duration_ = ros::Duration(duration);
64  //calculate the angular fequencies
65  start_angular_freq_ =2*M_PI*start_freq;
66  end_angular_freq_ =2*M_PI*end_freq;
67 
68  //calculate the constants
70  L_ = (duration)/log(end_angular_freq_/start_angular_freq_);
71 
72  //zero out the command
73  cmd_ = 0.0;
74 
75  return true;
76 }
77 
79 {
80  if(dt<=duration_)
81  {
82  cmd_= amplitude_*sin(K_*(exp((dt.toSec())/(L_))-1));
83  }
84  else
85  {
86  cmd_=0.0;
87  }
88 
89  return cmd_;
90 }
91 }
92 
double update(ros::Duration dt)
Update the SineSweep loop with nonuniform time step size.
Definition: sine_sweep.cpp:78
bool init(double start_freq, double end_freq, double duration, double amplitude)
Intializes everything and calculates the constants for the sweep.
Definition: sine_sweep.cpp:55
SineSweep()
Constructor.
Definition: sine_sweep.cpp:42
ros::Duration duration_
Definition: sine_sweep.h:93


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:11:48