# STEP5

Given a specific $x$ value, the Step5 function evaluates the $y$ value of a function that smoothly transitions from $\left({x}_{0},{y}_{0}\right)$ to $\left({x}_{1},{y}_{1}\right)$ This function has continuous first and second derivatives, but discontinuous third derivatives at the end points.

## Format

$\text{Step5}\left(x,{x}_{0},{y}_{0},{x}_{1},{y}_{1}\right)$

## Arguments

$x$

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

${x}_{0}$

The $x$ value at which the Step5 function begins.

${y}_{0}$

The value of the Step5 function desired at ${x}_{0}$ .

${x}_{1}$

The $x$ value at which the Step5 function ends.

${y}_{1}$
The value of the Step5 function desired at ${x}_{1}$

(1)

## Example

<Motion_Joint
id                  = "104003"
type                = "EXPRESSION"
val_type            = "D"
expr                = "STEP5(TIME,0,0,0.01,-50)"
joint_id            = "104008"
joint_type          = "T"
/>