Broad-phase check for point cloud predictions

[elvout]

We can optimize point cloud predictions at each particle (#32) by first checking if collisions between line segments are even possible. This can be done by first checking if the bounding boxes of the lines intersect.

[elvout]

Bounding box checks are already implemented in the line intersection code from the shared library. 40abaa0 introduces an optimization by first checking if a map line intersects the circle centered at the laser with radius range_max.