alternative way of computing dead-reckoning traj
apply dynamics at every tick, instead of just control ticks

This is more realistic, since the car doesn't just sit in one place
until the next control tick. The delta_t between ticks is so small,
though, that both the method before and the current method produce
very similar results.
fix stupid bug that was passing car params in the wrong order
bugfix: had covariance and stdev confused
rewrite LaserLogic by porting fast_lasers.c
bugfix: remember to reverse the order of the laser readings

Stupid bug took me a few hours to find :(
wip ransac for extracting obstacles
remove dead code (original idea was to fit circles in ransac)