Boxes WIP

[simoneotelie]

Description

Problems:

• The mcs has a problem with the width when l1 != 0. In the other seg/traj it was because we got s1, ... directly without getting it from func_s(seg, l1). I cannot see anything like that here.
• Circle: It works wonderfully except at 2 pi (should be an easy fix, probably related to the bigger problem). Bigger problem is when the angles are exactly from 0, pi. or -pi, 0. It manages 180 deg perfectly in any other case. It seems to be a problem with how the angles are set in the beginning. The code further down must be correct, because it is general, and works for all other cases. When I change the sus angle the x-coord of the vertices (which are printed) are correct, but suddenly the s is wrong. And vice versa. Idk why. Also, the box will look like it's even more wrong in the plotter, but this is because the way we generally define w and l in the bounding box class for the vertices does not always match with the circle, so at the end on the function I have to decide If I'm gonna send w=w or w = l etc. You'll see. It depends on the orientation of the segment/traj. So, often if something else is wrong, it will not rotate the box correctly in the plotter because of that. So instead you should look at the printout where I print the calculated vertices; they show the "true" box while debugging.
  Closes # .

Checklist

Mandatory:

• I have added tests to cover my changes
• All the tests are passing, including my new ones
• I described my changes in this PR description

Optional:

• The code I wrote follows good style practices (see PEP 8 and PEP 20).
• I have updated the docs in relation to my changes, if applicable
• I have tested also GPU contexts

[simoneotelie]

Also, atm for deg > 180 (not atm), it calculated all the vertices to find the smallest. I had a dream last night about how not to do that, so I'll try to change that to something faster later on:)