Beginnings of walk optimiser. Psueocode added
Added files. Further developing pseudocode and added walk scripting reactor.
Fixed findYAML.cmake |-> FindYAML.cmake. Also, this commit might have some problems with WalkScript, WalkScripter and WalkOptimiser because I forgot to make a new branch. Other compiler issues are vblocking me fixing it now. Just comment out what you need to.
Added config for IMU model
Found better orientation filter values but also found bug in orientation
Added names to all subsumption requests for debugging/visualisation purposes
Found better orientation filter values but also found bug in orientation again
Merge branch 'develop' of github.com:nubots/NUClearPort into develop
Merge branch 'develop' into feature/VisionOverhaul

Conflicts:
	modules/support/NUbugger/src/NUbugger.cpp