BGL: Revise `cost_recorder` event visitor

[marip8]

The cost_recorder event visitor makes a copy of the edge weight property map every time it is utilized in order to get the cost of an edge. It seems like there should be a more efficient way of getting the edge weight that avoids this unnecessary amount of copying

https://github.com/swri-robotics/descartes_light/blob/d56038bedba31d03a11dcf8f1e59bc0f927267c9/descartes_light/solvers/include/descartes_light/solvers/bgl/impl/event_visitors.hpp#L63

Also, the class should probably be renamed to distance_recorder since it is actually recording the distance from the start vertex to each visited vertex