Fixed bug, control cycle sent, cleaned methods
In trajectory_generation, we had the total time for each segment as a float. This is more exact than an integer obviously, but if the float is not divisible by our resolution rate, the computed trajectory is wrong. It will never correctly reach the intended goal. So now the code rounds the total time up to the next integer.
The go() method in Planner now includes sending the best trajectory as T_move to the robot package.
The modifyTrajec methon in planner.cpp has been cleaned up a lot. The getNewVelocities method has some new comments, but I think it is reasonably readable and I don't see much room for improvement in the logic.