stuff
Working on bezier stuff
Change over to Bezier smoothing.
replanWhenNeeded needs to be reverted and fixed.
Need to implement using Vo and Vf
Change to always use the optomized path and the bezier curve
Change back so it replans when the goal changes
change PID to not accept nan values
Fix very stupid mistake setting vi.y = vi.x
Merge branch 'master' into bezierAlbert
Merge branch 'master' of github.com:RoboJackets/robocup-software into bezierAlbert
Disabled a debug print statement
Disable a debug cout
ReEnabled detecting our robots as obstacles. It only detects them as obstacles if they're within a certain distance from the robot's current position. This range increases with velocity.
Refactor some code and add documentation. Also removed most of the cout statements.
Merge branch 'bezierAlbert' of github.com:RoboJackets/robocup-software into bezierAlbert
Merge branch 'master' into bezierAlbert

Conflicts:
	soccer/SConscript
	soccer/planning/Path.hpp
Revert "stuff"

This reverts commit c6168401a16bfa792eb1fd40dd4601c1faab2d23.

Conflicts:
	soccer/SConscript
Merge branch 'master' into bezierAlbert
cleanup
Merge pull request #116 from RoboJackets/bezierAlbert

Bezier albert