Function OPTpsix transforms vector u as follows
\[
\psi(x)x =x\rho' (x) = \begin{cases} \frac{2.7692 x^2}{c^2} \qquad |x| \leq \frac{2}{3} c \\
-\frac{5.3834 x^2}{c^2} +\frac{43.0672 x^4}{c^4} -\frac{69.9840 x^6}{c^6} +\frac{32.3 x^8}{c^8}
\qquad \frac{2}{3} c < |x| \leq c \\
0 & \; \vert x \vert > c. \end{cases}
\]
Remark: function $\psi(x) *x$ has been precalculated because it is used to find
the weights in case of Tau estimators