Ball search map improvements

[knoellle]

Just had a look at the ball search map / search suggestor.
Ideas for improvement:

• use a probability distribution map instead of generic "heat" values
• convolve map to spread probability over time
• add probability where balls are seen
• set probability where rule balls are (only when entering the state, otherwise they won't decay properly)
• decay probability when looking at a cell
• normalize map to have a total probability of 1 after changing it
• Use team balls to update map

This is the way we had implemented it in our C++ code and I think it worked a lot better than the current state, even when considering that we cannot do state synchronization between robots anymore.