Merge branch 'master' into gf

# Conflicts:
#	MPC/loaded_mpc.cpp
#	MPC/navigation.cpp
#	config/webots/navigation.prototxt
#	config/webots/navigation_main.prototxt

MPC/pose2d.cpp

@@ -109,7 +109,7 @@ Pose2d Pose2d::rotate(float ox,float oy,float theta)const{
 
   Pose2d translate(x()-ox,y()-oy,m_theta);//平移
   Pose2d rotated=translate.rotate(theta);
+
   Pose2d ret(rotated.x()+ox,rotated.y()+oy,rotated.theta());
-  //std::cout<<" self:"<<*this<<" , R:"<<rotated<<",ret:"<<ret<<std::endl;
   return ret;
 }