Refactored NUcap messages to use Vector.proto
Added vec4 to Vector.proto
Created quaternion class
Add localisation config to allow output to either MockLocalisation or NUbugger
Merge branch 'develop' of github.com:nubots/NUClearPort into develop

Conflicts:
	modules/localisation/KFBallLocalisation/src/KFBallLocalisation.cpp
Add Ransac.h with correct case
Fixed compile errors in UnitQuaternion
Added nucap localisation bearing ready for testing. Commented out due to linker error to be resolved
Fix runtime errors introduced into localisation measurement updates
Merge branch 'develop' of github.com:nubots/NUClearPort into develop
Generalised parametric line to include description of line segments
Fix Nubugger output for localisation
Added polygon functionality. Still some compile errors (commented for now).
Merge branch 'develop' into features/BehaviourStrategy