{"action":"created","comment":{"url":"https://api.github.com/repos/misaksson/CarND-Capstone/pulls/comments/201585348","pull_request_review_id":136113998,"id":201585348,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwMTU4NTM0OA==","diff_hunk":"@@ -17,60 +17,43 @@ def __init__(self, target_speed, current_speed=0.0,\n                               target_acceleration, current_accleration,\n                               acceleration_limit, jerk_limit)\n         else:\n-            # No acceleration. Current speed will be returned regardless of distance.\n-            self.distance_speed_lut = [current_speed]\n-\n-        # The list of distances represented in the LUT\n-        self.distances = [i * self.delta_d for i in range(len(self.distance_speed_lut))]\n+            # No acceleration. Current speed/acceleration will be returned regardless of distance.\n+            self.distances = [0.0]\n+            self.velocities = [current_speed]\n+            self.accelerations = [current_accleration]\n \n     def __accelerate(self, target_speed, current_speed,\n                      target_acceleration, current_accleration,\n                      acceleration_limit, jerk_limit):\n         # Calculate the velocity at each time-step when applying acceleration and jerk according to their max limits.\n         # Instead of continuously calculate when the jerk must change sign such that the acceleration can be reduced to\n         # zero at target speed, the iteration is started from both ends to find the speed overlap in the middle.\n-        v0 = current_speed\n-        a0 = current_accleration\n-        v1 = target_speed\n-        a1 = target_acceleration\n-        j0 = jerk_limit\n-        j1 = -jerk_limit\n-        delta_t = 0.001\n-\n-        velocity_from_start_time = []\n-        velocity_from_end_time = []\n+        delta_t = 0.01","path":"ros/src/waypoint_updater/speed_calculator.py","position":30,"original_position":30,"commit_id":"5db71dab7b7b7b2c589726929e88ed072ea4aa4b","original_commit_id":"3a2d1f582e4575ba82a1070d2811f7eb05596e39","user":{"login":"misaksson","id":3238055,"node_id":"MDQ6VXNlcjMyMzgwNTU=","avatar_url":"https://avatars0.githubusercontent.com/u/3238055?v=4","gravatar_id":"","url":"https://api.github.com/users/misaksson","html_url":"https://github.com/misaksson","followers_url":"https://api.github.com/users/misaksson/followers","following_url":"https://api.github.com/users/misaksson/following{/other_user}","gists_url":"https://api.github.com/users/misaksson/gists{/gist_id}","starred_url":"https://api.github.com/users/misaksson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/misaksson/subscriptions","organizations_url":"https://api.github.com/users/misaksson/orgs","repos_url":"https://api.github.com/users/misaksson/repos","events_url":"https://api.github.com/users/misaksson/events{/privacy}","received_events_url":"https://api.github.com/users/misaksson/received_events","type":"User","site_admin":false},"body":"I just thought it would be sufficient for this application. The smaller delta_t, the better will the approximation become, but it will also require more computations. Note that the speed and acceleration at a specific distance is calculated using linear interpolation between the values at each delta_t.","created_at":"2018-07-11T07:12:57Z","updated_at":"2018-07-11T07:12:58Z","html_url":"https://github.com/misaksson/CarND-Capstone/pull/23#discussion_r201585348","pull_request_url":"https://api.github.com/repos/misaksson/CarND-Capstone/pulls/23","author_association":"OWNER","_links":{"self":{"href":"https://api.github.com/repos/misaksson/CarND-Capstone/pulls/comments/201585348"},"html":{"href":"https://github.com/misaksson/CarND-Capstone/pull/23#discussion_r201585348"},"pull_request":{"href":"https://api.github.com/repos/misaksson/CarND-Capstone/pulls/23"}},"in_reply_to_id":201565877},"pull_request":{"url":"https://api.github.com/repos/misaksson/CarND-Capstone/pulls/23","id":200533902,"node_id":"MDExOlB1bGxSZXF1ZXN0MjAwNTMzOTAy","html_url":"https://github.com/misaksson/CarND-Capstone/pull/23","diff_url":"https://github.com/misaksson/CarND-Capstone/pull/23.diff","patch_url":"https://github.com/misaksson/CarND-Capstone/pull/23.patch","issue_url":"https://api.github.com/repos/misaksson/CarND-Capstone/issues/23","number":23,"state":"open","locked":false,"title":"Use 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