A mistake on dynamic constraints in reference_path.py

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Hi! I'm trying to reproduce your work and I think I found a mistake on setting dynamic constraints in reference_path.py file.

            # Fill operator matrix
            # dynamics of acceleration
            if i < N-1:
                D1[i, i:i+2] = np.array([-1/(2*li), 1/(2*li)])

Guess a linear motion is assumed in this context, I believe the calculation needs to be doen by v^2, not v.
$$a = \frac{v^2 - v_0^2}{2l}$$
I would be grateful if you go over it and let me know if my suggestion is correct.
Much thanks!