Add track setpoint command.
Introduce track command in 3rd order spg. With this command the spg is set to track the 'track_x' input but will still honour all limits (v, a, j, x)
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Introduce track command in 3rd order spg. With this command the spg is set to track the 'track_x' input but will still honour all limits (v, a, j, x)