Problems with polygon class found and currently being debugged. NEXT: run with std::cerr piped to fifo to view clear results
Localisation observation and RobotModel state changes

Change vision observations to be in spherical coordinates relative
to the ground, and change the RobotModel to represent heading as
a bearing instead of a unit vector.
Merge branch 'develop' of github.com:nubots/NUClearPort into develop

Conflicts:
	modules/localisation/MMKFRobotLocalisation/src/RobotModel.cpp
Polygon complete and working.
Added config trigger for KFBallLocalisation. Debugging errors in strategy.
Merge branch 'develop' into features/BehaviourStrategy