Fix reverse motions the have different signs of v0 and v1#13

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SungChiCHIANG wants to merge 3 commits intomarcbone:mainfrom

SungChiCHIANG:reverse_move_v0_v1_different_signs_fix

Commits on Aug 2, 2023

Fix calc_intervals result when the start and end
Sung-Chi CHIANG
committed

Commits on Aug 7, 2023

Fix cargo fmt error
Sung-Chi CHIANG
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Commits on Aug 8, 2023

Add unit tests for is_trajectory_feasible
Sung-Chi CHIANG
committed