control_toolbox::Sinusoid Class Reference

A basic sine class. More...

#include <sinusoid.hpp>

Public Member Functions
	Sinusoid ()
	Constructor.
	Sinusoid (double offset, double amplitude, double frequency, double phase)
	Constructor which initializes values.
virtual	~Sinusoid ()
void	debug ()
double	update (double time, double &qd, double &qdd)
	Gets the value and derivatives of the sinusoid at a given time.

Detailed Description

A basic sine class.

This class calculates the output for a sine wave and its derivatives, given the amplitude, phase, frequency and offset.

Constructor & Destructor Documentation

Sinusoid()

control_toolbox::Sinusoid::Sinusoid	(	double	offset,
		double	amplitude,
		double	frequency,
		double	phase
	)

Constructor which initializes values.

Parameters

offset	A DC offset to be added to the sine wave
amplitude	Amplitude of the sine wave
frequency	Frequency of the sine wave
phase	Phase (in radians) of the sine wave at t=0

~Sinusoid()

control_toolbox::Sinusoid::~Sinusoid ( )

virtual

Destructor

Member Function Documentation

debug()

void control_toolbox::Sinusoid::debug

(

)

Prints the parameters of the sine wave to stdout (for debugging)

update()

double control_toolbox::Sinusoid::update	(	double	time,
		double &	qd,
		double &	qdd
	)

Gets the value and derivatives of the sinusoid at a given time.

Parameters

time	Time at which to sample the sine wave
qd	(output) The derivative of the sine wave
qdd	(output) Second derivative of the sine wave

Returns

The sampled value of the sine wave

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

• control_toolbox/include/control_toolbox/sinusoid.hpp
• control_toolbox/src/sinusoid.cpp