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Regularization ​

Type of regularization near zero speed for sign-dependent force and torque models.

  • Exp: Exponential approximation (default, smooth everywhere)

  • Sine: Sine approximation (C1 at ±v0)

  • Linear: Linear approximation (C0 at ±v0)

  • CoSine: Cosine approximation (C1 at ±v0)

Cases ​

  • Exp

  • Sine

  • Linear

  • Cosine

Source ​

dyad
"""
Type of regularization near zero speed for sign-dependent force and torque models.

- Exp: Exponential approximation (default, smooth everywhere)
- Sine: Sine approximation (C1 at ±v0)
- Linear: Linear approximation (C0 at ±v0)
- CoSine: Cosine approximation (C1 at ±v0)
"""
enum Regularization =
  | Exp
  | Sine
  | Linear
  | Cosine

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