From c467026f1773b47f4a0cad0b94d1a66d6d6abfc8 Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <t.poignonec@sherpa-mr.com>
Date: Sun, 1 Dec 2024 14:03:45 +0100
Subject: [PATCH] strictly accelerating only

---
 include/control_toolbox/rate_limiter.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/control_toolbox/rate_limiter.hpp b/include/control_toolbox/rate_limiter.hpp
index 47bd9c9..df99c3f 100644
--- a/include/control_toolbox/rate_limiter.hpp
+++ b/include/control_toolbox/rate_limiter.hpp
@@ -300,7 +300,7 @@ T RateLimiter<T>::limit_second_derivative(T & v, T v0, T v1, T dt)
     // Only limit jerk when accelerating or reverse_accelerating
     // Note: this prevents oscillating closed-loop behavior, see discussion
     // details in https://github.com/ros-controls/control_toolbox/issues/240.
-    if ((dv - dv0) * (v - v0) >= 0)
+    if ((dv - dv0) * (v - v0) > 0)
     {
       const T dt2 = dt * dt;