setAlgorithm sets the trajectory algorithm
 
    Currently implemented algorithms are
        
        'UnconstrainedQp'   (default)
        'MinJerkPhase'      
 
    'UnconstrainedQp' creates advanced minimum jerk 
    trajectories that support user specified velocity and 
    acceleration constraints at any point (free constraints 
    are represented by nans).
 
    'MinJerkPhase' is an older trajectory algorithm that
    requires fully specified position waypoints and does not
    support user specified constraints. We consider this
    algorithm deprecated and recommend not using it anymore.