Cull Straight Line Segments From Generated Paths

[Tyler-Lentz]

If generated paths span large distances (e.g. entire continents) then there are two things that can potentially happen:

1. Bandwidth issues: sending a path to the GCS/Pixhawk that has a lot of points will take a long time over the network.
2. Performance issues: part of our logging code for the GCS routes logs out every request that is sent over the network. If a request contains a path with millions of points, then this takes a crazy long time.

2 can be fixed by just not logging the entire path, although it would require a refactoring of the GCS routes code because currently it assumes you want to log out the entirety of every HTTP request. However, 1 would always be a problem.

Both of these are incredibly minor problems and don't actually arise in the expected use case of the project (the size of mission that we would expect for the competition) but it still might be a good idea to implement the following to alleviate this:

• When a path is generated, before saving in the MissionState vector remove from the vector of points all of the segments that are detected as straight lines, since it will be implied that any gaps in the generated points are straight lines.

This potentially could take a long time, so we would probably only want to enable this if we detect that the path has more than a certain amount of points where we end up saving time from the network transmission later.