STEP

Given a specific xx value, the Step function evaluates the yy value of a function that smoothly transitions from (x0,y0)(x0,y0) to (x1,y1)(x1,y1) . This function has continuous first and second derivatives, but discontinuous third derivatives at the end points.

Format

Step(x,x0,y0,x1,y1)Step(x,x0,y0,x1,y1)

Arguments

xx
The independent variable. For example, to specify time as the independent variable, specify xx as TIME.
x0x0
The xx value at which the Step function begins.
y0y0
The value of the Step function desired at x0x0
x1x1
The xx value at which the Step function ends.
y1y1
The value of the Step function desired at x1x1 .

Definition

step ={y0,  if x≤x0y0+Δy˜x2(3−2˜x), ifx0<x<x1y1,   if x≥x1where,Δy=(y1−y0)and˜x=(x−x0)(x1−x0)

Example

<Motion_Joint
     id                  = "104003"
     type                = "EXPRESSION"
     val_type            = "D"
     expr                = "STEP(TIME,0,0,0.01,-50)"
     joint_id            = "104008"
     joint_type          = "T"
/>