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Refactors possible_inscribed_cost to possible_circumscribed_cost in collision checker for smac_planner and mppi_controller #155

Refactors possible_inscribed_cost to possible_circumscribed_cost in collision checker for smac_planner and mppi_controller

Refactors possible_inscribed_cost to possible_circumscribed_cost in collision checker for smac_planner and mppi_controller #155

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3 errors and 2 warnings

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