Is the intention of this segment code to keep the initial acceleration A0 unchanged, when A1 or A2 excceds the pysical limit?

[xiaozialei]

Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp

Line 294 in f4a74cf

if (i == 1 || i == 2) {

  if (i == 1 || i == 2) {
    // cout << "acc i: " << i << endl;
    for (int j = 2; j <= 5; ++j) {
      u_(j) += double(j - 1) * t_inc;
    }

    for (int j = 6; j < u_.rows(); ++j) {
      u_(j) += 4.0 * t_inc;
    }

  }