Public Member Functions | |
Oscillator (const std::string name) | |
Protected Member Functions | |
double & | computeSignal (double &sout, const int &t) |
dynamicgraph::Vector & | computeVectorSignal (dynamicgraph::Vector &vsout, const int &t) |
double | value (double dt, double time, double omega, double phase, double amplitude, double bias) |
Protected Attributes | |
SignalPtr< double, int > | angularFrequencySIN_ |
SignalPtr< double, int > | magnitudeSIN_ |
SignalPtr< double, int > | phaseSIN_ |
SignalPtr< double, int > | biasSIN_ |
SignalTimeDependent< double, int > | soutSOUT_ |
SignalTimeDependent < dynamicgraph::Vector, int > | vectorSoutSOUT_ |
double | epsilon_ |
bool | started_ |
bool | continuous_ |
double | dt_ |
double | lastValue_ |
dynamicgraph::sot::tools::Oscillator::Oscillator | ( | const std::string | name | ) |
epsilon is used to ensure there is no discontinuity when starting or stopping the oscillator. It defines the sensitivity to discontinuities
References angularFrequencySIN_, biasSIN_, computeSignal(), computeVectorSignal(), continuous_, dt_, epsilon_, lastValue_, magnitudeSIN_, phaseSIN_, soutSOUT_, started_, and vectorSoutSOUT_.
double & dynamicgraph::sot::tools::Oscillator::computeSignal | ( | double & | sout, |
const int & | t | ||
) | [protected] |
References angularFrequencySIN_, biasSIN_, continuous_, dt_, epsilon_, lastValue_, magnitudeSIN_, phaseSIN_, started_, and value().
Referenced by Oscillator().
dynamicgraph::Vector & dynamicgraph::sot::tools::Oscillator::computeVectorSignal | ( | dynamicgraph::Vector & | vsout, |
const int & | t | ||
) | [protected] |
References soutSOUT_.
Referenced by Oscillator().
double dynamicgraph::sot::tools::Oscillator::value | ( | double | dt, |
double | time, | ||
double | omega, | ||
double | phase, | ||
double | amplitude, | ||
double | bias | ||
) | [protected] |
Referenced by computeSignal().
SignalPtr< double, int > dynamicgraph::sot::tools::Oscillator::angularFrequencySIN_ [protected] |
Referenced by computeSignal(), and Oscillator().
SignalPtr< double, int > dynamicgraph::sot::tools::Oscillator::biasSIN_ [protected] |
Referenced by computeSignal(), and Oscillator().
bool dynamicgraph::sot::tools::Oscillator::continuous_ [protected] |
Referenced by computeSignal(), and Oscillator().
double dynamicgraph::sot::tools::Oscillator::dt_ [protected] |
Referenced by computeSignal(), and Oscillator().
double dynamicgraph::sot::tools::Oscillator::epsilon_ [protected] |
Referenced by computeSignal(), and Oscillator().
double dynamicgraph::sot::tools::Oscillator::lastValue_ [protected] |
Referenced by computeSignal(), and Oscillator().
SignalPtr< double, int > dynamicgraph::sot::tools::Oscillator::magnitudeSIN_ [protected] |
Referenced by computeSignal(), and Oscillator().
SignalPtr< double, int > dynamicgraph::sot::tools::Oscillator::phaseSIN_ [protected] |
Referenced by computeSignal(), and Oscillator().
SignalTimeDependent< double, int > dynamicgraph::sot::tools::Oscillator::soutSOUT_ [protected] |
Referenced by computeVectorSignal(), and Oscillator().
bool dynamicgraph::sot::tools::Oscillator::started_ [protected] |
Referenced by computeSignal(), and Oscillator().
SignalTimeDependent< dynamicgraph::Vector, int > dynamicgraph::sot::tools::Oscillator::vectorSoutSOUT_ [protected] |
Referenced by Oscillator().