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.