Generalize continuity/safety checks

[dennisss]

Currently CSV and JOCS have redundant continuity code.

• Maybe put into the base class or create another class for doing all feasibility pre-checks

Extending continuity checks to higher orders.

• Currently it looks like continuity is only enforced for position and time
• We should also require velocity and acceleration continuity
  • Typically these would mean the lack of a proper transition i.e. starting a circle without speeding up