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Resolve "Revisit architecture for pure pursuit"

Christopher Ho requested to merge 62-revisit-architecture-pure-pursuit into master

This MR introduces the following:

  • A "reference implementation" document for a vehicle interface
  • A "reference implementation" document for a controller
  • A message package instantiating the messages outlined in the documents

Moving forward, to ensure that the ecosystem is sufficiently modular, components relating to these concerns ("vehicle interface" or "controller") should have the inputs, outputs and behaviors outlined in these documents

Closes #62 (closed)

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