Acceleration limiter allows faster acceleration in one direction

[ArcticNarwhal]

The limiter contains following relevant code:

double angular_acceleration_max_= 3.5
double angular_deceleration_max_=-3.5*1.2

double angular_acceleration = ((double)(wz - last_wz)) / duration; // in [rad/s^2]

if( angular_acceleration > angular_acceleration_max )
  command_wz = last_wz + angular_acceleration_max * duration;
else if( angular_acceleration < angular_deceleration_max )
  command_wz = last_wz + angular_deceleration_max * duration;
else
  command_wz = wz;
last_wz = command_wz;

This reads to me like the robot would have a maximal acceleration to the left (positive values) of 3.5, and a maximal acceleration to the right (negative values) of -3.5*1.2. This does not seem to be intended behavior.

Linear acceleration seems to have the same issue, allowing faster acceleration when going backwards.