Internal Obstacle Update

Added definition of PI rather than using "3.14159". Seems to have fixed the infinite loop problem. Or, at least, I could not replicate the issue. Tested for various column sizes and rotations. Compared obstacles created through RectPrism functions to hard coded obstacles...quad behaves the same in each. Removed resize() from all functions. Double checked rotations and obs definitions. Seems to be in order. Quad will still enter obstacle with high dynamic maneuvers. Giving the obstacle a very large buffer space minimizes this.