Controller Bug Fixes

[a-krawciw]

Bug Fixes: Hopefully, solve the CBIT crash on spline interpolation when the repeat path is less than five vertices long. (Close #201) Use min speed parameter in the speed scheduler. Was using hard-coded 0.5 m.s

Warnings Reductions: Change many int to size_t in for loops. Remove some unused parameters Start migrating namespaces to match conventions.

[a-krawciw]

Needs testing before merge.

[a-krawciw]

Tested to work in offline runs path between 5 and 500 vertices long. No seg faults any more.

[a-krawciw]

Tested with extremely short path and long path on Warthog.