[WIP] Viewer, new primitives, and more

[dennisss]

:book: Summary

• Work in Progress : do not merge yet
• Integration of the new viewer
  • With lighting simulation. Angles taken from data sheet.
  • Fixes #49
• New primitives: ellipse, arbitrary arcs, spirals, helix, rotated/scaled/etc. versions of any trajectory.
  • Have some hardcoded test cases
  • Pending input from CSV team for integration with CSV reader
• Lot's of other miscellaneous things

:mag: Details

• All trajectories now use shared_ptrs via Trajectory::Ptr to reduce memory leakage.
• Mike Development Environment
  • Mostly ready. Will need to test on other machines tomorrow
  • Fixes #141, fixes #140
• Rotated/Transformed shapes given a transformation matrix
  • Will need a good way to specify this in the file format
  • Fixes #46, fixes #10
• Now can use Node.js to load .js files when specified as if they are .json files
  • Uses node.js to show syntax errors (much more descriptive than the c++ library's errors)
  • Considering JSON doesn't officially support comments and most editors don't like them in JSON mode, we will simplify our lives by just disallowing comments in JSON files and parsing as JS if comments are needed
    • Fixes #74
• Fixes #100

:heavy_check_mark: Testing

Works in sim, will test IRL once I get back

:heavy_check_mark: Verification

• [ ] Checked for memory leaks

:popcorn: Relevant Gif

[abramowitzK]

Will take a look later. In process of making CSV work.

[dennisss]

This is still a work in progress, so I'll be making some more changes before merging. Just getting the PR ready to track the issues

[abramowitzK]

CSV is functional now but needs testing. I can merge your changes and add the new primitives.