Pilz JointLimitContainer max deceleration in common limit

[galou]

I must first confess that I don't know what JointLimitContainer::getCommonLimit() is used for but I stumbled upon something that surprised me: joint_limits_container.cpp, L. 162 uses the max deceleration as common limit. Shouldn't it be the min deceleration of all joint deceleration. To my understanding, the factor that will limit the velocity is the deceleration of the joint with the smallest deceleration because the speed will have to be reduced sooner because of it.

[galou]

I found the answer myself. The deceleration must be given by the user as negative value. Is there actually a check for this somewhere?