bresch 7205e8f359 Auto traj - Add Trajectory logging ...

- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables

2018-11-06 22:17:00 +01:00

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