control_toolbox::SineSweep Class Reference

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, \(T\).
amplitude	The amplitude of the sweep, \(A\).

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

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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