sine_sweep.hpp

// Copyright (c) 2008, Willow Garage, Inc.
//
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#ifndef CONTROL_TOOLBOX__SINE_SWEEP_HPP_
#define CONTROL_TOOLBOX__SINE_SWEEP_HPP_
 
#include <rclcpp/duration.hpp>
 
namespace control_toolbox
{
/***************************************************/
/***************************************************/
 
class SineSweep
{
public:
  SineSweep();
 
  double update(rclcpp::Duration dt);
 
  bool init(double start_freq, double end_freq, double duration, double amplitude);
 
private:
  double amplitude_;          
  rclcpp::Duration duration_; 
  double start_angular_freq_; 
  double end_angular_freq_;   
  double K_;                  
  double L_;                  
  double cmd_;                
};
}  // namespace control_toolbox
 
#endif  // CONTROL_TOOLBOX__SINE_SWEEP_HPP_