Stateful Cost Prediction

[Andrewyx]

Description

Our tactic assignment algorithm currently uses a cost function to populate a matrix optimized by the Hungarian algorithm. A problem with our current approach is that there are often cases where robots' optimal assignment costs are very similar, hence their assigned tactics are rapidly changed. This poses a problem since it means our robots can appear "livelocked" during gameplay, and seem to suffer "paralysis."

The proposed solution given in this PR is to apply a penalty as a function of time to discourage rapidly changing between the same set of tactics.

Testing Done

Resolved Issues

Resolves #3583

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue