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Wlgen uclamp support

Darryl Green requested to merge github/fork/Jaime-VH/wlgen_uclamp_support into master

Created by: Jaime-VH

This patch adds the ability to set clamp values for RTATask objects. Additional parameters are added to the constructors of RTATask classes which allow one to provide functions as arguments which are used to compute the desired clamp value for a given phase of the task. Example usage is provided in this notebook

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