sine_sweep.h
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34 
35 
36 #ifndef CONTROL_TOOLBOX__SINESWEEP_H
37 #define CONTROL_TOOLBOX__SINESWEEP_H
38 
39 #include <ros/ros.h>
40 
41 namespace control_toolbox {
42 /***************************************************/
58 /***************************************************/
59 
60 class SineSweep
61 {
62 public:
63 
67  SineSweep();
68 
72  ~SineSweep();
73 
79  double update(ros::Duration dt);
80 
89  bool init(double start_freq, double end_freq, double duration, double amplitude);
90 
91 private:
92  double amplitude_;
96  double K_;
97  double L_;
98  double cmd_;
99 };
100 }
101 
102 #endif
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
Generates a sine sweep for frequency analysis of a joint.
Definition: sine_sweep.h:60
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 Mon Jun 10 2019 12:56:32