Format

Description

Given a specific value, the Step5 function evaluates the value of a function that smoothly transitions from to This function has continuous first and second derivatives, but discontinuous third derivatives at the end points.

Example

<Motion_Joint

    id                  = "104003"

    type                = "EXPRESSION"

    val_type            = "D"

    expr                = "STEP5(TIME,0,0,0.01,-50)"

    joint_id            = "104008"

    joint_type          = "T"

/>

Arguments

The independent variable.  For example, to specify time as the independent variable, specify as TIME.

The value at which the Step5 function begins.

The value of the Step5 function desired at .

The value at which the Step5 function ends.

The value of the Step5 function desired at .

Definition