VelocityThirdOrderStep1 limitation

[huangjiancong1]

Input:

inp.control_interface = ControlInterface.Velocity
inp.synchronization = Synchronization.No
inp.current_position = [0]
inp.current_velocity = [5]
inp.current_acceleration = [-1]
inp.target_position = [20]
inp.target_velocity = [4]
inp.target_acceleration = [-3]
inp.max_velocity = [5]
inp.max_acceleration = [4]
inp.max_jerk = [3]
inp.min_acceleration = [-4]

The return from Ruckig v14 is (with UDDU):

t1=0.80473785412436494
t2=0
t3=1.4714045207910316
t4=0
t5=0
t6= 0
t7=0

It should be (with DUUD):

t1=0.5
t2=0
t3=0
t4=0
t5=0
t6= 0
t7=0

[huangjiancong1]

Also, the following input for VelocityThirdOrderStep1 is problematic:

input.current_velocity = -0.83231789525598288;
input.target_velocity = -2.4267797517064107;
input.current_acceleration = 0.86184323346242309;
input.target_acceleration = -8.5189101093115269;
input.max_acceleration = 9.5189101093115269;
input.max_jerk = 18.796623608237134;