TOTG created undesirable trajectories when scaling individual states

[Levi-Armstrong]

The TOTG algorithm supports scaling the entire trajectory by the same value but not independent states. An attempt to support this it was implemented to post scale the individual states which actually causes undesirable trajectories that may not be continuous and violate the velocity and acceleration limits demonstrated in the image below. This should be disable for this algorithm.

[mpowelson]

It's worth noting that if you are using position control or you sample pretty densely and don't need good accuracy, it might still work fine for you. It's more of a problem when using velocity control for fine motions.