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Hormodular 1.0
Locomotion gait discovery by using digital hormones on modular robots
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Oscillator.h
00001 //------------------------------------------------------------------------------ 00002 //-- Oscillator 00003 //------------------------------------------------------------------------------ 00004 //-- 00005 //-- Abstract class that serves as a base to create different oscillators 00006 //-- 00007 //------------------------------------------------------------------------------ 00008 //-- 00009 //-- This file belongs to the Hormodular project 00010 //-- (https://github.com/David-Estevez/hormodular.git) 00011 //-- 00012 //------------------------------------------------------------------------------ 00013 //-- Author: David Estevez-Fernandez 00014 //-- 00015 //-- Released under the GPL license (more info on LICENSE.txt file) 00016 //------------------------------------------------------------------------------ 00017 00024 #ifndef OSCILLATOR_H 00025 #define OSCILLATOR_H 00026 00027 #include <stdint.h> 00028 #include <iostream> 00029 00030 namespace hormodular { 00031 00036 class Oscillator 00037 { 00038 00039 public: 00040 void setPeriod( int period_ms); 00041 int getPeriod( ); 00042 00043 void setAmplitude( float amplitude); 00044 float getAmplitude(); 00045 00046 void setOffset(float offset); 00047 float getOffset(); 00048 00049 void setPhase( float phase); 00050 float getPhase(); 00051 00059 void setParameters( float amplitude, float offset, float phase, int period_ms = 0); 00060 00066 virtual float calculatePos( unsigned long time ) = 0; 00067 00068 protected: 00069 Oscillator(); 00070 Oscillator(float amplitude, float offset, float phase, int period_ms = 4000); 00071 00072 int period_ms; 00073 float amplitude; 00074 float offset; 00075 float phase; 00076 }; 00077 } 00078 #endif
