feat: Calculate CTE, EPSI and predict Steer Angle and Throttle
feat: Calculate CTE, EPSI and predict Steer Angle and Throttle

Add logic to find CTE, EPSI. Also used them to solve MPC to predict steering angle and throttle value that has to be fed back to the visualizer.

Signed-off-by: Raghavendra Manjegowda <2bd7ca8ef4edf341b0f04ab95b9c3490b44fd26d@gmail.com>

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