build fix, and cruckig compatibility fix

Author: Luca Toniolo

src/emc/motion_planning/Submakefile

@@ -89,7 +89,7 @@ TARGETS += ../lib/libmotion_planning_9d.so ../lib/libmotion_planning_9d.so.0
 # included from emc/tp/tc_types.h).  Internal headers like blend_sizing.h
 # stay local — they reference ../tp/ paths that break in the flat include/.
 MOTION_PLANNING_PUBLIC_H := emc/motion_planning/bezier9.h
-$(patsubst ./emc/motion_planning/%,../include/%,$(MOTION_PLANNING_PUBLIC_H)): ../include/%.h: ./emc/motion_planning/%.h
+$(patsubst emc/motion_planning/%,../include/%,$(MOTION_PLANNING_PUBLIC_H)): ../include/%.h: emc/motion_planning/%.h
 	cp $^ $@
-$(patsubst ./emc/motion_planning/%,../include/%,$(wildcard ./emc/motion_planning/*.hh)): ../include/%.hh: ./emc/motion_planning/%.hh
+$(patsubst emc/motion_planning/%,../include/%,$(wildcard emc/motion_planning/*.hh)): ../include/%.hh: emc/motion_planning/%.hh
 	cp $^ $@

src/emc/tp/cruckig/ruckig_compat.hpp

@@ -47,8 +47,6 @@ struct InputParameter {
     std::array<double, 1> max_velocity = {0};
     std::array<double, 1> max_acceleration = {0};
     std::array<double, 1> max_jerk = {0};
-    std::array<double, 1> min_velocity = {0};
-    std::array<double, 1> min_acceleration = {0};
     ControlInterface control_interface = ControlInterface::Position;
 };
 
@@ -159,8 +157,8 @@ class Ruckig {
         cinp->max_velocity[0]         = input.max_velocity[0];
         cinp->max_acceleration[0]     = input.max_acceleration[0];
         cinp->max_jerk[0]             = input.max_jerk[0];
-        cinp->min_velocity[0]         = input.min_velocity[0];
-        cinp->min_acceleration[0]     = input.min_acceleration[0];
+        // min_velocity and min_acceleration are NULL in cruckig (optional).
+        // cruckig uses -max when NULL, which matches ruckig's default.
         cinp->control_interface       = static_cast<CRuckigControlInterface>(input.control_interface);
 
         CRuckigResult cresult = cruckig_calculate(otg_, cinp, traj.c_ptr());