Relative position sensor

[kenblu24]

This PR introduces a new sensor, and also separates two concerns within BinaryFOVSensor:

• Getting all agents within a radius of the sensor origin --> class RangedSensor
  • When an agent position quadtree is available, create a bounding box of the circle of sensing range and use this AABB to query the quadtree for agents
  • Return the agents within < r radius of the sensor origin
• Sensing agents within an FOV -- class BinaryFOVSensor(RangedSensor)
  • Create a bounding box of the FOV which is used to query RangedSensor for nearby agents
  • Check if any other agent is within FOV

In other words, BinaryFOVSensor now inherits from a new class RangedSensor.

This makes it easier to implement the quadtree-optimized agent getter in other sensors.

I am also introducing RelativeAgentSensor, which returns relative coordinates to nearby agents, from a global frame (i.e. 5 meters East, 2 meters North), as opposed to agent/sensor body frame. This can of course be extended in the future with a config option to return body frame coordinates.

This sensor passes all tests in tests/sensors at this time, and I have run an SNN milling test which returns the same Circliness up to 4 decimal places (0.9421 w/ casPYan, 0.9389 w/ caspian)

This PR also includes some changes to the way that BinaryFOVSensor calculates the FOV axis-aligned bounding box, which I did for readability. I have NOT benchmarked this change for performance uplift/degradation.