Min snap vel/acc continuity conditions

[Zhefan-Xu]

https://github.com/icsl-Jeon/traj_gen/blob/9341a5ca2f5dc8f1720d547359d61e74431b12d5/src/PolyTrajGen.cpp#L1096

Hi, I am trying to understand your implementations. Can you explain a bit about why need to multiply the dt2 term at the end? Based on my understanding, you have normalized time interval for each segment to [0, 1], so I don't quite understand why dtappears.