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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 sigmoidgain_impl {
double rate;
double limit;
double additive_constant;
double integration_constant;
sigmoidgain_impl(const accel_args& args) :
rate(args.rate), limit(args.limit - 1)
{
additive_constant = exp(rate * args.midpoint);
integration_constant = log(1 + additive_constant);
}
inline double operator()(double speed) const {
//f(x) = k/(1+e^(-m(c-x)))
double scaled_speed = rate * speed;
return limit * ((log(additive_constant+exp(scaled_speed)) - integration_constant)/scaled_speed);
}
};
using accel_sigmoidgain = additive_accel<sigmoidgain_impl>;
}
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