2022.09 Release

What's Changed

• Ellipse improvements by @S-Dafarra in #51
• Performance improvements by @S-Dafarra in #52
• Add the possibility to use a minimum jerk trajectory to generate the first DCM DS phase by @GiulioRomualdi in #53
• Allow the unicycle to move sideways by @S-Dafarra in #54

Full Changelog: v0.4.1...v0.5.0