v0.10.45 Adding an AccelerationMinimizer utility

Lowpass Butterworth filtering on typical motion capture data does not smooth the position data sufficiently to compensate for the increase in the magnitude of the higher frequency noise when double differentiated to get position data (and its linear correlate, torque). So this minor release adds a utility that will do a weighted-least-squares smoothing of the trajectory to minimize acceleration while tracking the original signal, which results in much smoother torque profiles when tuned correctly.