Localization refactor - finish what Josh started

[mmaherwelsh]

@joshimhoff did lots of work that is in a branch called loc-refactor. On Sept. 15, 2015 he wrote:

Loc has been refactored and documented to make it easier to work with in the future. There are a number of FUTURE WORK tags in the code that explain things that could be better.

Do not pull this without extensive testing on a robot. Since I do not have access to a robot or field, I have not tested these changes at all. A couple of small parameters changes have been made and tested in competition, but the majority of the changes here should not affect the particle filter's performance at all. The majority of the changes are for code clarity and maintance.

I suggest waiting to pull this until it can be tested on a big field, as the small field isn't a very good test of localization. What we really need is an offline system for testing localization -- either the ability to run loc on logged data or some kind of a simulator -- but we do not have that as of now.

Since I have not ever run this, it could segfault. If this happens or there is some other major issue, let me know.

Also this branch was made of off the competition branches from China. Check gitk for details. Be careful not to pull in competition hacks that shouldn't go in the codebase.

I hope the beginning of the year is going well. Roll!

[mmaherwelsh]

@littleguy230 was interested in picking this up and can probably give more input.