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Convert kintrajopt to use AsLinearInControlPoints
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Resolves #22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
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@RussTedrake
RussTedrake committed Jan 29, 2025
1 parent f049112 commit 146c413
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