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#pragma once
#include <math.h>
#include "accel-base.hpp"
namespace rawaccel {
/// <summary> Struct to hold sigmoid (s-shaped) gain implementation. </summary>
struct logarithm_impl {
double rate;
double offset;
double additive_const;
logarithm_impl (const accel_args& args) :
rate(args.rate), offset (args.offset) {
additive_const = offset * rate;
}
inline double operator()(double speed) const {
double scaled_speed = rate * speed + 1;
double base_speed = speed + offset;
return (scaled_speed * log(scaled_speed) + additive_const ) / ( rate * base_speed) - 1;
}
inline double legacy_offset(double speed) const { return operator()(speed); }
};
using accel_logarithm = additive_accel<logarithm_impl>;
}
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