[Bug 1026] New: VelocityProfile_TrapHalf moves backwards after setting duration

http://bugs.orocos.org/show_bug.cgi?id=1026

           Summary: VelocityProfile_TrapHalf moves backwards after setting
                    duration
           Product: KDL
           Version: kdl-trunk
          Platform: All
        OS/Version: All
            Status: NEW
          Severity: major
          Priority: P3
         Component: Path planning and interpolation
        AssignedTo: [email protected]
        ReportedBy: [email protected]
                CC: [email protected]
   Estimated Hours: 0.0


Created attachment 855
  --> http://bugs.orocos.org/attachment.cgi?id=855
Unit test header file

Just setting the profile gives the correct answer. But if you set the profile
with a longer duration, the position moves backwards before it moves forwards.
This is incorrect.

The class is also poorly documented, in that it appears to remain stationary at
the beginning of a duration-specified profile, and only scales the acceleration
(not the velocity, like with the full trap. class). The fact that this class
has 3 phases within a motion profile is not explained; stationary, ramp up, and
constant velocity (for starting==true). Or I completely don't understand what
it is doing.

Unit test attached that demonstrates the issue. The
TestTrapHalf_SetDuration_Start() function uses the same parameters as the
TestTrapHalf_SetProfile_Start(), except it attempts to use double the duration.
But the position moves backwards during the profile.

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