Trajectory generation future work

[kjjarvis]

Requirement Text
List of additional features to be developed to further improve the trajectory generation

DoD
Features to add/enhance:

• Controllers - separate controllers into separate model and add other controller options
• Add checks for unrealistic waypoint inputs
• Update documentation with more detail on models involved
• Add functionality to support any user-defined time step (currently must be constant)
• Made model stateless - Model is not currently stateless, since state values are saved in the parameters (i.e. 'next_waypoint' in event_state). Edit to achieve stateless model

[teubert]

I'm hoping we can also remove the second horizon provided to simulate_to* once the controller is split