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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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src/engine/engine_util_misc.h
+2 -2
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@@ -123,10 +123,10 @@ MJAPI void mju_insertionSortInt(int* list, int n);
// Halton sequence
MJAPI mjtNum mju_Halton(int index, int base);
// Call strncpy, then set dst[n-1] = 0.
// call strncpy, then set dst[n-1] = 0
MJAPI char* mju_strncpy(char *dst, const char *src, int n);
// Sigmoid function over 0<=x<=1 constructed from half-quadratics.
// sigmoid function over 0<=x<=1 using quintic polynomial
MJAPI mjtNum mju_sigmoid(mjtNum x);
#ifdef __cplusplus