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First implementations of safety

Andrei Gheata requested to merge surf_safety into surface_model

This implements the global navigation algorithm for computing the safety in the surface model. This is validated with the testEm3 example. Safety is computed by combining the safety to the infinite surface with the safe distance from the projected point on the surface to the masks representing frames on the surface. The surface safety is implemented for planar, cylindrical, conical, and spherical surfaces. The safety for masks is implemented currently for WindowMask and RingMask only.

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