chore: flatten dubins

[AskewParity]

I'm on a quest to speed up pathing (begone OOP)

Changes

Besides lint, the changes are to dubins.xpp, where we change the class into a struct.

This removes the need for every class to create a brand new Dubin's object for what is essentially a set of funcitons.

[Copilot]

Copilot review overview

🟡 Changes recommended

Unresolved Dubins configuration, angle-wrapping, and test-selection issues block approval.

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Review effort: Lite
Findings: 3

Open (3)

• Dubins parameters incorrectly stored as mutable process-wide state · New
• Negative remainder wrapping turns near-zero angles into full circles · New
• Global Dubins configuration causes planner interference · New

What changed in this PR

This pull request flattens Dubins pathing into namespace-level APIs and shared configuration while updating callers, tests, includes, and style settings.

Changes:

• Replaces Dubins instances with namespace functions and global parameters.
• Updates pathing planners, tests, and configuration.
• Adds missing includes and formatting/build adjustments.
• Requires fixes for shared mutable configuration, negative remainder handling, and tree test option selection.

File	Reviewed changes
tests/​unit/​pathing/​tree_test.cpp	Migrates tree tests; shortest-option selection requires correction.
tests/​unit/​pathing/​dubins_test.cpp	Updates Dubins API and configuration tests.
tests/​unit/​pathing_test.cpp	Updates pathing test usage.
src/​utilities/​obc_config.cpp	Initializes shared Dubins parameters; global state can overwrite planner configuration.
src/​utilities/​datatypes.cpp	Adds standard-library includes.
src/​ticks/​mission_prep.cpp	Adds vector include.
src/​ticks/​manual_landing.cpp	Adds string include.
src/​pathing/​tree.cpp	Uses namespace-level Dubins functions.
src/​pathing/​static.cpp	Removes Dubins object ownership.
src/​pathing/​plotting.cpp	Reorganizes includes.
src/​pathing/​mission_path.cpp	Replaces C-style casts.
src/​pathing/​dubins.cpp	Implements flattened Dubins operations; negative remainder handling can create near-full-circle turns.
src/​network/​udp_server.cpp	Adds standard-library includes.
src/​network/​udp_client.cpp	Adds string and vector includes.
src/​network/​mavlink.cpp	Adds utility include.
src/​network/​gcs_routes.cpp	Adds container and utility includes.
src/​network/​airdrop_client.cpp	Adds list include.
src/​cv/​yolo.cpp	Adds standard-library includes.
src/​cv/​utilities.cpp	Adds vector include.
src/​cv/​pipeline.cpp	Adds standard-library includes.
src/​cv/​mapping.cpp	Adds utility include.
src/​cv/​localization.cpp	Adds required standard-library includes.
src/​cv/​hdr.cpp	Adds string and vector includes.
src/​cv/​clustering.cpp	Reorganizes includes.
src/​cv/​aggregator.cpp	Adds container and utility includes.
src/​core/​obc.cpp	Adds standard-library includes.
src/​core/​mission_state.cpp	Adds string and set includes.
src/​core/​mission_parameters.cpp	Adds string and vector includes.
src/​camera/​rpi.cpp	Reorganizes includes.
src/​camera/​mock.cpp	Adds standard-library includes.
src/​camera/​interface.cpp	Adds standard-library includes.
include/​utilities/​http.hpp	Adjusts namespace formatting.
include/​pathing/​tree.hpp	Removes Dubins object dependency.
include/​pathing/​static.hpp	Removes stored Dubins members.
include/​pathing/​dubins.hpp	Defines namespace API; shared mutable parameters can affect independent planners.
include/​network/​udp_client.hpp	Fixes include path.
include/​network/​serialize.hpp	Adjusts namespace formatting.
CMakeLists.txt	Updates cpplint filtering.

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[kimichenn]

lgtm