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WIP: Implement a mixin to smooth model dynamics

Jesse VanderWees requested to merge smooth-dynamics-mixin into master

In every model ever built, we observe that the control variables induce undesirably jumpy and pointed results into the model dynamics. We usually try to resolve this by adding rate-of-change goals ad-hoc onto the most misbehaved states. This new mixin:

  1. Provides a standardized approach to smoothing dynamics
  2. Avoids ad-hoc boilerplate der() goals
  3. Makes it easy for new users to get agreeable results out of RTC

Closes #1047

Edited by Sjoerd Geevers

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