Add new controller

[exoticDFT]

We need to replace our current controller. Our current controller is a PID based controller. The new controller should be able to take the current ego vehicle trajectory and provide the appropriate control message to move the vehicle in Carla. This new controller should be based on some variant of LQR.

Inputs:

• Ego trajectory (as Path)

Output:

• Ego control (as Ackermann message?)

[exoticDFT]

Do we want to calculate high level controls; Steering Angle, Steering Angle Velocity, Speed, Acceleration and Jerk to provide to their PID controller as an Ackermann message?

OR

Do we want to calculate low level controls; Throttle, Steering, and Braking, with optional Hand Braking, Reverse, and Gearing?

[exoticDFT]

Should have been closed by PR #13