ros2_control - humble
sinusoid.hpp
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32 
35 #ifndef CONTROL_TOOLBOX__SINUSOID_HPP_
36 #define CONTROL_TOOLBOX__SINUSOID_HPP_
37 
38 namespace control_toolbox
39 {
48 class Sinusoid
49 {
50 public:
54  Sinusoid();
55 
64  Sinusoid(double offset, double amplitude, double frequency, double phase);
65 
69  virtual ~Sinusoid();
70 
74  void debug();
75 
84  double update(double time, double & qd, double & qdd);
85 
86 private:
87  double offset_;
88  double amplitude_;
89  double frequency_;
90  double phase_;
91 };
92 
93 } // namespace control_toolbox
94 
95 #endif // CONTROL_TOOLBOX__SINUSOID_HPP_
A basic sine class.
Definition: sinusoid.hpp:49
void debug()
Definition: sinusoid.cpp:63
double update(double time, double &qd, double &qdd)
Gets the value and derivatives of the sinusoid at a given time.
Definition: sinusoid.cpp:51
Sinusoid()
Constructor.
Definition: sinusoid.cpp:49
virtual ~Sinusoid()
Definition: sinusoid.cpp:47
Definition: dither.hpp:46