orocos/orocos_kinematics_dynamics — pull request #39 by rethink-forrest (2014-12-08 21:53:26+00:00)
Title: Check that the maxvel is obtainable in a half trapezoidal velocity profile

Calculate the maximum velocity obtained during the half trapezoidal profile to calculate the correct timing. Prior to this change, the assert in path_composite.cpp that checks the path distance, s, failed if the max velocity was not reached.