UFE Updates

Description

This merge request contains:

• A miniature overhaul of the Signal, Derivative, Integral, Filter, and CircularBuffer classes that I previously introduced. Mainly to have more of them handle a variable time step.
• Clean up of some of the unit tests folder
• Various bug fixes needed for UFE
• Added comments to parts of the code that were missing documentation

UFE Bug Fixes and New Features:

• Firmware version checks for LCB and/or UFE features are now done centrally by the RobotClient
• The DisturbanceObserver intialization now works properly not just in the DisturbanceObserverTest program but also when running a game (no null pointer exceptions!)
• The direction of the UFE forces displayed in a game are correct: Guidance/Resistance/Locking forces were not showing up in the right direction
• The UFE includes forces from interacting with the safety walls and other safety systems (like cartesian velocity damping)

What to focus on

• Run the SignalProcessingTest and use the plotSignalProcessingData.m octave script to analyze the data.
• Use the MovementAnalysisTest to retest tool odometry, work, and user effort.
• Use the DisturbanceObserverTest to retest disturbance force estimate. Look at the effect of toggling user gravity compensation.