Class switchable_tv_generator

Class Documentation

class switchable_tv_generator

Public Functions

explicit switchable_tv_generator(const rcontrol::config::waveform_config *config)
~switchable_tv_generator(void)
inline double active_tv(void) const

Get the applied amount of temporal variance (a percentage between 0 and 1) that should be applied to the robot.

inline double applied_tv(void) const

Get the current amount of variance (a percentage between 0 and 1) that is configured for for the robot (regardless if it is active or not).

inline void toggle(bool en)

Enable/disable application of the temporal variance.

void update(const rtypes::timestep &t)

Update the value of the temporal variance in accordance with the configured waveform and current timestep.