https://www.wolframalpha.com/input?i=x+%3D+253+*+e%5E%28-1+*+a+*+%28y+-+b%29%29%2C+solve+for+y

https://github.com/ros-planning/navigation2/blob/main/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/regulation_functions.hpp#L74

Also use new getCostScalingFactor() API in inflation layer to get the scaling factor instead of a new parameter that could be misconfigured (see MPPI/Smac)