Implement evaluate method for LocalTrajectory, Implement TebObstacleManager

Tobias Grögerrequested to merge
feature/local_trajectory_interpolation into dev

Convert LocalTrajectory to a proper class so the evaluate method can be implemented. Let LocalTrajectoryController use evaluate method.

Add TebObstacleManager to add static obstacles for optimization.

Closes #17 (closed), #19 (closed), #21 (closed)

Edited by Tobias Gröger

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