added option to score the heading of the rotate in place trajectories - ...

Added option to enable rotate in place trajectories to be scored for the heading difference. 

Currently it scores all rotate-in-place trajectories the same - which can lead to the wrong rotate-velocity being picked (which would be noticeable at the start) 

Enable with  heading_scoring_on_rotate

Set the heading_scale to set the weight - suggest setting a small value - so that it doesn't result in weird weighting behavior (suggested 0.001)