Implement DMP with kinematic constraints proposed in Antonis Sidiropoulos, Dimitrios Papageorgiou & Zoe Doulgeri

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Paper: https://link.springer.com/article/10.1007/s10514-022-10067-4 Code: https://github.com/Slifer64/novel-DMP-constraints/blob/main/simulations/fig1a_offline_opt_pos_vs_vel.m