sinusoid.h
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34 
37 #ifndef CONTROL_TOOLBOX__SINUSOID_H_
38 #define CONTROL_TOOLBOX__SINUSOID_H_
39 
40 #include <iostream>
41 #include <tinyxml.h>
42 
43 namespace control_toolbox
44 {
45 
54 class Sinusoid
55 {
56 public:
60  Sinusoid();
61 
70  Sinusoid(double offset, double amplitude, double frequency, double phase);
71 
75  virtual ~Sinusoid();
76 
83  bool initXml(TiXmlElement *ti_xml_element);
84 
88  void debug();
89 
98  double update(double time, double& qd, double& qdd);
99 
100 private:
101  double offset_;
102  double amplitude_;
103  double frequency_;
104  double phase_;
105 };
106 
107 }
108 
109 #endif /* SINUSOID_H_ */
A basic sine class.
Definition: sinusoid.h:54
bool initXml(TiXmlElement *ti_xml_element)
Initializes the parameters of the sine wave from the given xml element.
Definition: sinusoid.cpp:54
Sinusoid()
Constructor.
Definition: sinusoid.cpp:72
double update(double time, double &qd, double &qdd)
Gets the value and derivatives of the sinusoid at a given time.
Definition: sinusoid.cpp:76


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Mon Jun 10 2019 12:56:32