Local pathfinding PR 66

[patrick-5546]

Description

• Original PR (make sure diff matches this) https://github.com/UBCSailbot/local_pathfinding/pull/66
• Resolves local pathfinding issue #33
• Added two functions in the parent class: (i) Creates random sample states; (ii) Compares every pair in that sample and picks the maximum motionCost()
• Inherited these functions in each Objective class to find the max_motionCost for each objective function
• Modified the motionCost() function of each Objective class to normalise its cost using max_motionCost

Verification

• Verified using a simple setup example problem
• Haven't included unit tests

Resources

[akash-venkateshwaran]

Hi Patrick, I have completed the normalization. Done the testing of speed obj as well There an issue in logic for normalization where I got 1.0 for every pair of random samples. I have fixed that bug. Also there is a problem with SpeedObjectiveMethod.SAILBOT_TIME where no matter how many samples I use I get diff max_motion_cost every time I run it. I don't think its a huge issue. Please check it out