Add min_jerk_trajectory() and improve self-test #188

	name: Linters

	on: [pull_request]

	jobs:
	mypy:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v4
	with:
	python-version: "3.10"
	- name: Install
	run: \|
	python3 -m pip install mypy types-PyYAML numpy==1.23.3
	- name: Add matcher
	run: \|
	echo "::add-matcher::.github/workflows/mypy-problem-matcher.json"
	- name: Run mypy
	run: \|
	python3 -m mypy .

	flake8:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v4
	with:
	python-version: "3.10"
	- name: Install
	run: \|
	python3 -m pip install flake8
	- name: Add matcher
	run: \|
	echo "::add-matcher::.github/workflows/flake8-problem-matcher.json"
	- name: Lint with flake8
	run: \|
	python3 -m flake8 .

	black:
	name: Python Formatting
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v4
	with:
	python-version: "3.10"
	- uses: psf/black@stable

	clang-format:
	name: C++ Formatting
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v4
	- run: wget https://raw.githubusercontent.com/machines-in-motion/mpi_cmake_modules/master/scripts/run-clang-format
	- run: wget https://raw.githubusercontent.com/machines-in-motion/mpi_cmake_modules/master/resources/_clang-format
	- run: python ./run-clang-format -r .

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