Added: Class representing collisions reported from beasty.
Decreased life-time of collision markers.
Refactored: Now using non-latched collision feedback from controller.
Added: First security features. Namely, resetting safety and setting of collision thresholds.
Removed: Unnecessary functionality to optional reset emergency of beasty.
Refactoring: Moved marker visualization into separate file.
Slight re-ordering of functions.