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Commits on Dec 14, 2014

• Fix incorrect interpolation in getVelocity

  tobiaskunz

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Commits on Dec 10, 2014

• Remove unnecessary epsilon

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  tobiaskunz

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Commits on Dec 8, 2014

• Fix problem where the intersecting path velocity might be calculated too high when hitting the velocity limit curve while integrating forward. This can result in the algorithm not following the lim…

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  tobiaskunz

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  b5b412f

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• Complete overhaul of integrateBackward function

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  tobiaskunz

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• Add tests and allow user to specify integration time step

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Commits on Apr 3, 2014

• Fix numerical problem that occurs when a switching point candidate is at the very end of a path segment.

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  tobiaskunz

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• Make code compile with GCC

  tobiaskunz

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Commits on Mar 25, 2014

• Original version as published in July 2012

  tobiaskunz

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