bugfix: max_vel_y >= vy, unless proportional saturation

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

http://wiki.ros.org/teb_local_planner

BSD 3-Clause "New" or "Revised" License

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Closed kenomo closed 2 years ago

kenomo commented 3 years ago

Previously, if vy exceeded max_vel_y during velocity saturation, vy was increased.