fixed AllocateTime#3
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triangle motion, 0.5*a*(0.5*t)^2 = 0.5s so, segment_t = 2*std::sqrt(delta_dist / max_accel_);
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triangle motion, 0.5a(0.5t)^2 = 0.5s
so, segment_t = 2std::sqrt(delta_dist / max_accel_);