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#pragma once
#include <math.h>
#include "accel-natural.hpp"
namespace rawaccel {
/// <summary> Struct to hold "natural" (vanishing difference) gain implementation. </summary>
struct naturalgain_impl : natural_impl {
using natural_impl::natural_impl;
inline double operator()(double speed) const {
// f(x) = k((e^(-mx)-1)/mx + 1)
double scaled_speed = rate * speed;
return limit * (((exp(-scaled_speed) - 1) / scaled_speed) + 1);
}
};
using accel_naturalgain = additive_accel<naturalgain_impl>;
}
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