dither.h
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34 
37 #ifndef CONTROL_TOOLBOX__DITHER_H
38 #define CONTROL_TOOLBOX__DITHER_H
39 
40 #include <cstdlib>
41 #include <ctime>
42 #include <math.h>
43 #include <random>
44 #include <ros/ros.h>
45 
46 namespace control_toolbox {
47 
48 /***************************************************/
58 class Dither
59 {
60 public:
61 
62  Dither();
63 
67  ~Dither();
68 
73  double update();
74 
75  /*
76  *\brief Dither gets an amplitude, must be >0 to initialize
77  *
78  *\param amplitude Amplitude of white noise output
79  *\param seed Random seed for white noise
80  */
81  bool init(const double &amplitude, const double &seed)
82  {
83  if (amplitude < 0.0)
84  {
85  ROS_ERROR("Dither amplitude not set properly. Amplitude must be >0.");
86  return false;
87  }
88 
89  amplitude_ = amplitude;
90 
91  // seed generator for reproducible sequence of random numbers
92  generator_.seed(static_cast<unsigned int>(seed));
93 
94  return true;
95  }
96 
97  /*
98  *\brief Generate a random number with random_device for non-deterministic random numbers
99  */
100  static double generateRandomSeed()
101  {
102  std::random_device rdev{};
103  return static_cast<double>(rdev());
104  }
105 
106 
107 private:
108  double amplitude_;
109  double saved_value_;
110  bool has_saved_value_;
111  double s_;
112  double x_;
113  std::mt19937 generator_;
114 };
115 }
116 
117 #endif
control_toolbox::Dither::x_
double x_
Definition: dither.h:144
control_toolbox::Dither::has_saved_value_
bool has_saved_value_
Definition: dither.h:142
control_toolbox::Dither::s_
double s_
Definition: dither.h:143
ros.h
control_toolbox::Dither::Dither
Dither()
Definition: dither.cpp:75
control_toolbox::Dither::generator_
std::mt19937 generator_
Definition: dither.h:145
control_toolbox::Dither::init
bool init(const double &amplitude, const double &seed)
Definition: dither.h:113
ROS_ERROR
#define ROS_ERROR(...)
control_toolbox::Dither
Gives white noise at specified amplitude.
Definition: dither.h:90
control_toolbox::Dither::amplitude_
double amplitude_
Definition: dither.h:140
control_toolbox
Definition: dither.h:46
control_toolbox::Dither::generateRandomSeed
static double generateRandomSeed()
Definition: dither.h:132
control_toolbox::Dither::saved_value_
double saved_value_
Definition: dither.h:141
control_toolbox::Dither::update
double update()
Get next Gaussian white noise point. Called in RT loop.
Definition: dither.cpp:84
control_toolbox::Dither::~Dither
~Dither()
Destructor.
Definition: dither.cpp:80


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:09:46