Generates a sine sweep for frequency analysis of a joint. More...

#include <sine_sweep.hpp>

Public Member Functions
	SineSweep ()
	Constructor.

double	update (rclcpp::Duration dt)
	Update the SineSweep loop with nonuniform time step size.

bool	init (double start_freq, double end_freq, double duration, double amplitude)
	Initializes everything and calculates the constants for the sweep.

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

Member Function Documentation

◆ init()

bool control_toolbox::SineSweep::init	(	double	start_freq,
		double	end_freq,
		double	duration,
		double	amplitude
	)

Initializes 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, .

◆ update()

double control_toolbox::SineSweep::update ( rclcpp::Duration dt )

Update the SineSweep loop with nonuniform time step size.

Parameters

dt	Change in time since last call

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

control_toolbox/include/control_toolbox/sine_sweep.hpp
control_toolbox/src/sine_sweep.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ init()

◆ update()