Parameterized raise-fall function.

Implementation of the two joined sine curve for raise and fall profile function. For more details, see: Ding, Walsh et al., Human-in-the-loop optimization of hip assistance with a soft exosuit during walking, Science Robotics, 2018.

Inherits from Function.

Parameter Type Description
start_time const PropNode & Profile start time [s]; default = not set.
raise_time const PropNode & Profile raise time [s]; default = not set.
fall_time const PropNode & Profile fall time [s]; default = not set.
peak const PropNode & Profile peak; default = not set.

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