Computation of the acceleration in the Pilz/LIN planner

[galou]

In trajectory_functions.cpp, the acceleration is computed as follow:

        point.accelerations.push_back((joint_velocity - joint_velocity_last.at(joint_name)) /
                                      (duration_current_sample + sampling_time) * 2);

I don't understand why (duration_current_sample + sampling_time) * 2). Maybe the denominator should be (duration_current_sample + sampling_time) / 2) but probably just duration_current_sample.

[galou]

I just realized that I didn't read the parenthesis correctly. The denominator is the mean value between duration_current_sample and sampling_time for some reason. It's OK because for most points, they have the same value.