Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
When the change in velocity is exactly the same on several axes, the T1
of the recumputed trajectories after time sync was set to 0 because it
was skipping both if and else if.
Matthias Grob