Implemented preliminary, kinda-sorta working version of minimax optimization to find a feasible plan
Changed port equality constraint into an inequality constraint. Doesn't seem to work well yet, though. Possibly issues in distance computation
Fixed error in passive arm clearance constraint
Merge branch 'feasible-plan-optim' into all-ineq

Conflicts:
	AutoPortPlacement/Logic/optim/optim.cxx
Adjustments to feasible plan optimization
Forgot to add feasible plan test file to repo
forgot to add find-feasible-plan-test.cxx to repo
Adjusted feasible plan optimization so that every pair of distances has its own constraint.
Fixed error with bounds on intracorporeal mechanism joints
Adding some known feasible solutions for rendering in the APP widget
Refactored to use a method in DavinciKinematics for retrieving amount of active clearances
Added unscented transform to findFeasiblePlan
find-feasible-plan-test finds a completely valid plan now that I reduced the chance constraint to 0.1.
Merge branch 'all-ineq' into feasible-plan-optim

Conflicts:
	AutoPortPlacement/Logic/tests/find-feasible-plan-test.cxx