Remove kinemathic restriction.

This should be consider in upper levels and leave the low level to really
do any kind of movement.

src/segway_RMP400.cpp

@@ -252,16 +252,6 @@ CSegwayRMP400::move(float vT, float vR)
 {
     need_to_be_connected();
 
-    float vRradsec = vR;
-
-    if (fabs(vT) < fabs(RMP400_b * vRradsec / 2)) {
-        // minimum translational velocity needed to enforce rotation about a ICR outside of the robot base
-        if(vT>=0.0)
-            vT =  fabs(RMP400_b * vRradsec / 2);
-        else
-            vT = -fabs(RMP400_b * vRradsec / 2);
-    }
-
     for (int i=0 ;i < segways_.size(); i++)
         segways_[i]->move(vT,vR);
 }