SWEEP

The SWEEP function evaluates a sinusoidal function that has constant amplitude but linearly increasing frequency at a specific x value.

Format

Sweep ( x , A , x 0 , f 0 , x 1 , f 1 , d x )

Arguments

x
The independent variable. For example, to specify time as the independent variable, specify x as TIME
A
The amplitude of the sinusoidal function.
x 0
The x value at which the SWEEP function begins.
f 0
The desired value for the initial frequency of the sinusoidal function.
x 1
The x value at which the SWEEP function ends.
f 1
The desired value for the final frequency of the sinusoidal function.
d x
The x interval over which the SWEEP function becomes fully active.

Definition

SWEEP = STEP5( x , 0 , 0 , d x , 1 ) × A sin ( 2 π f x ) where , f   = { f 0 ,                if        x ≤ x 0 f 0 + 1 2 Δ f x ˜ ,   if  x 0 < x ≤ x 1 f 1 ,               if        x > x 1 and where, Δ f = ( f 1 − f 0 ) x ˜ = ( x − x 0 ) ( x 1 − x 0 ) MathType@MTEF@5@5@+= feaagKart1ev2aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr 4rNCHbGeaGqiVCI8FfYJH8YrFfeuY=Hhbbf9v8qqaqFr0xc9pk0xbb a9q8WqFfeaY=biLkVcLq=JHqpepeea0=as0Fb9pgeaYRXxe9vr0=vr 0=vqpWqaceaabiGaciaacaqabeaadaqaaqaaaOabaeqabaGaae4uai aabEfacaqGfbGaaeyraiaabcfacaqGGaGaaeypaiaabccacaqGtbGa aeivaiaabweacaqGqbGaaeynaiaabIcacaWG4bGaaiilaiaaicdaca GGSaGaaGimaiaacYcacaWGKbWaaSbaaSqaaiaadIhaaeqaaOGaaiil aiaaigdacaGGPaGaey41aqRaamyqaiGacohacaGGPbGaaiOBaiaacI cacaaIYaGaeqiWdaNaamOzaiaadIhacaGGPaaabaGaae4DaiaabIga caqGLbGaaeOCaiaabwgacaGGSaaabaGaamOzaiaabccacqGH9aqpda GabaabaeqabaGaamOzamaaBaaaleaacaqGWaaabeaakiaacYcacaqG GaGaaeiiaiaabccacaqGGaGaaeiiaiaabccacaqGGaGaaeiiaiaabc cacaqGGaGaaeiiaiaabccacaqGGaGaaeiiaiaabccacaqGPbGaaeOz aiaabccacaqGGaGaaeiiaiaabccacaqGGaGaaeiiaiaabccacaWG4b GaeyizImQaamiEamaaBaaaleaacaaIWaaabeaaaOqaaiaadAgadaWg aaWcbaGaaGimaaqabaGccqGHRaWkdaWcaaqaaiaaigdaaeaacaaIYa aaaiabfs5aejaadAgaceWG4bGbaGaacaGGSaGaaeiiaiaabccacaqG PbGaaeOzaiaabccacaWGGaGaamiEamaaBaaaleaacaaIWaaabeaaki abgYda8iaadIhacqGHKjYOcaWG4bWaaSbaaSqaaiaaigdaaeqaaaGc baGaamOzamaaBaaaleaacaaIXaaabeaakiaacYcacaqGGaGaaeiiai aabccacaqGGaGaaeiiaiaabccacaqGGaGaaeiiaiaabccacaqGGaGa aeiiaiaabccacaqGGaGaaeiiaiaabMgacaqGMbGaaeiiaiaabccaca qGGaGaaeiiaiaabccacaqGGaGaaeiiaiaadIhacqGH+aGpcaWG4bWa aSbaaSqaaiaaigdaaeqaaaaakiaawUhaaaqaaiaabggacaqGUbGaae izaiaabccacaqG3bGaaeiAaiaabwgacaqGYbGaaeyzaiaabYcaaeaa cqqHuoarcaWGMbGaeyypa0JaaiikaiaadAgadaWgaaWcbaGaaGymaa qabaGccqGHsislcaWGMbWaaSbaaSqaaiaaicdaaeqaaOGaaiykaaqa aiqadIhagaacaiabg2da9maalaaabaGaaiikaiaadIhacqGHsislca WG4bWaaSbaaSqaaiaaicdaaeqaaOGaaiykaaqaaiaacIcacaWG4bWa aSbaaSqaaiaaigdaaeqaaOGaeyOeI0IaamiEamaaBaaaleaacaaIWa aabeaakiaacMcaaaaaaaa@BE61@

Example

<Motion_Joint
     id                  = "301001"
     label               = "Motion 0"
     type                = "EXPRESSION"
     val_type            = "D"
     expr                = "SWEEP(TIME,10,1,1,5,10,0.1)"
     joint_id            = "301001"
     motion_type         = "R"
  />