Assigned robot trajectories sometimes don't make sense

[fourpenny]

Sometimes our robots are being assigned (or are following) seemingly nonsense trajectories.

It's unclear whether this is due to a bug in the path planner, robot assignment, or simply the UI being wrong.

[fourpenny]

Working on tests for the path planner to see if I can find out what problems we have on this branch: https://github.com/SSL-A-Team/software/tree/dev/christian/path_tests

[fourpenny]

At least one problem is due to what appears to be inconsistent treatment of circles within the CGAL library. (Circle is not always considered a disk in all cases, which we want our robots to be when checking if they intersect objects, since they are solid)

I'm going to write at least 1 circle-circle intersection function to address this and see if that helps.