Added non blocking execution call for online robot

[geoffreychiou]

TODO

• [x] Add tests for new functionality.
• [x] Make interface less clunky and try to integrate timeout inside of the class.

[shaun-edwards]

@geoffreychiou, please add appropriate tests for this new functionality.

At a high level, it feels like you added more functionality than was needed to achieve our use case. What else is required beyond the code snippet below

robot.beginExecute("some_traj");
while (robot.isExecuting())
{
  //check OK conditions
  if (not_ok)
  {
    robot.abortExecution()
  }
}

[geoffreychiou]

What else is required beyond the code snippet below

Beyond that, we check for the timeout of the execution locally and just because we call stopExecution() doesn't mean the execution stops immediately, so if I were to add another motion right after it causes problems.

[shaun-edwards]

What is the use case for checkGoalInCollision, if it isn't needed in the code snippet above.

[geoffreychiou]

What is the use case for checkGoalInCollision, if it isn't needed in the code snippet above.

It is used as privately, but I left it as public in case someone wanted to use it.

[geoffreychiou]

@joshuaplusone please review.

[geoffreychiou]

@joshuaplusone I made the changes you requested.