Returning values for S curves phases

[JimmyDaSilva]

Hi @pantor,

Today I stumbled on a tricky bug case because I suspected I could get the speed and acceleration values for all transitions. Especially I need to read the cruise speed v[3] corresponding to the constant speed of phase IV

Running the test code below, I realized Ruckig sometimes combines the differents phases into one. In my case, there is no speed plato, phases III IV and V had been combined into phase III

Here is the simple test code: ruckig_demo.cc

Here are the resulting profiles values:

The plot of resulting motion profile At t=0.166s, a= 0. So I was expecting a[3] = 0; v[3] = -0.92; t_sum[3]=0.166;

I think it would be better to make sure that:

a[3] = 0
v[3] = cruise_speed
etc...

To fix this case, I am now computing t_cruise myself with: t_cruise = t_sum[1]+ | a[1] | / | j[2] |

Thanks again for your precious work on this package.