Motion: fix #9271 Walking in theta with a Nao can activate its own bumper

Dichotomie for bounding box collision returns the closser possible angle
that prevents the feet from collide.
Detects collisions with overlapping bounding boxes.
Uses Position2D instead of Pose2D for bounding boxes

Change-Id: Ied50d99240d3a4fa767c6e558fa8be7e7883f63d