Function pfield::softSaturateNorm

• Defined in File pfield_common.hpp

Function Documentation

inline Eigen::Vector3d pfield::softSaturateNorm(const Eigen::Vector3d &v, double maxNorm, double beta = 1.0)

Given a vector (typically linear or angular velocity), a maximum norm, and an optional ‘softness’ parameter beta, applies a soft saturation.

Parameters:

• v – The 3D vector to be saturated

• maxNorm – The maximum allowed norm

• beta – Softness parameter for the saturation, higher = more abrupt (default=1.0)

Returns:

Eigen::Vector3d The saturated vector