'''

''General''' Update to trajectories along with some general changes that allow simulator to be run

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Added a file Utility.py that contains the approach routine and also several helper routines
Added a set of terms to handle liner velocity effects on our rotation
updated utility.py:
added approach which p
istions the robot using vision:

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Added super approach and made windows a bit better
Made some changes(something of a hack) in order to enable velocity control
Added Visual Servoing
some minor fixes
changed how the publisheventkate initializes the buoy event pointer
add buoy detection using contours ready to be tested
minor fix
this is johnny's utility file
refixed
even more fixed
fixed a bug with visual servoing
added moar visual servoing
buoys are found using contours and gate/hedge works using buoyevent
changed gate event to use buoys, but the name is still GATE
added event.cpp and event.h to include a gate_lost event