Support for separate max acceleration and deceleration.

[novuscy]

Hello, thanks for this amazing crate!

I was wondering if it would be possible to add support for separate max acceleration and max deceleration, there are situations where slow acceleration but fast deceleration is required.

Thanks again.

[marcbone]

You are welcome. I am always fascinated that this crate is my most popular one :sweat_smile: I am not actively using this library myself anymore. Therefore, I am not implementing new features. But I am happy to accept PRs. I am using the books "Trajectory Planning for Automatic Machinesand Robots" by Luigi Biagotti and Claudio Melchiorri as help. There is also a chapter about "On-line computation of the double S trajectory". I did not look deeply into it but it seems like there they dont assume a_min = -a_max. Otherwise, it might also be possible to change the current implementation to do that. If you consider working on it, you might want to lift the constraint for the jerk as well