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Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.

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Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
This commit is contained in:
Yuval Tassa
2023-05-06 09:21:51 -07:00
committed by Copybara-Service
parent 26ff1fc4b5
commit 49efa9cc15
8 changed files with 51 additions and 19 deletions
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doc/APIreference/functions.rst
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@@ -3160,7 +3160,7 @@ mju_sigmoid
.. mujoco-include:: mju_sigmoid
Sigmoid function over 0<=x<=1 constructed from half-quadratics.
Sigmoid function over 0<=x<=1 using quintic polynomial.
.. _Derivatives-api: