Add support for jerk limits

[Levi-Armstrong]

No description provided.

[Levi-Armstrong]

@johnwason Do you know what the issue is with the conda builds?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 90.17%. Comparing base (a6bfa92) to head (1474132).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1001      +/-   ##
==========================================
- Coverage   90.18%   90.17%   -0.02%     
==========================================
  Files         280      280              
  Lines       15701    15753      +52     
==========================================
+ Hits        14160    14205      +45     
- Misses       1541     1548       +7     

see 14 files with indirect coverage changes

[johnwason]

I don't see the obvious reason for the failure. I will have to look into this.