Robot Localizer

[Andrewyx]

Description

Completes the ported changes from #3716, and implements the robot localizer, its various interfaces, and completes refactoring on much of the thunderloop pipeline.

Testing Done

Resolved Issues

Resolves #3725

Length Justification and Key Files to Review

• thunderloop.cpp
• primitive_executor.cpp
• robot_localizer.cpp

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue