[TASK] Collision Avoidance

[alekskl01]

Description of task

In addition to avoidance of static objects, we also need a collition avoidance system for dynamic obstacles.

Suggested Workflow

• Have a look at the old implemenation of COLAV
• (Optional) Have a look at Dynamic Windowing COLAV
• Discuss Input/Output and integration with the rest of the system
• Implement

Specifications

• Don't crash the boat

Contacts

• @theBadMusician
• @ivangushkov
• @chrstrom

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)