sinusoid.hpp

// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef CONTROL_TOOLBOX__SINUSOID_HPP_
#define CONTROL_TOOLBOX__SINUSOID_HPP_
 
namespace control_toolbox
{
class Sinusoid
{
public:
  Sinusoid();
 
  Sinusoid(double offset, double amplitude, double frequency, double phase);
 
  virtual ~Sinusoid();
 
  void debug();
 
  double update(double time, double & qd, double & qdd);
 
private:
  double offset_;    
  double amplitude_; 
  double frequency_; 
  double phase_;     
};
 
}  // namespace control_toolbox
 
#endif  // CONTROL_TOOLBOX__SINUSOID_HPP_