From 9b4556c59f063e5c6816338c1608b354e1441fb0 Mon Sep 17 00:00:00 2001 From: Jacob Palecki Date: Wed, 9 Sep 2020 19:56:54 -0700 Subject: Add improved logarithm style --- common/accel-logarithm.hpp | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 common/accel-logarithm.hpp (limited to 'common/accel-logarithm.hpp') diff --git a/common/accel-logarithm.hpp b/common/accel-logarithm.hpp new file mode 100644 index 0000000..0dbf433 --- /dev/null +++ b/common/accel-logarithm.hpp @@ -0,0 +1,33 @@ +#pragma once + +#include + +#include "accel-base.hpp" + +namespace rawaccel { + + /// Struct to hold sigmoid (s-shaped) gain implementation. + 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 { + //f(x) = k/(1+e^(-m(c-x))) + 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; + +} -- cgit v1.2.3