Kick decision step planning

[knoellle]

Why? What?

Currently, step plans are ordered by a distance metric (also taking into account orientation).
But not all kick decisions are created equal, some may be better even if slightly further away because the foot used to kick the ball fits better to the current support foot "phase".
With this PR, the kick selector does greedy step planning for each kick decision and calculates the total duration of these steps.
This duration metric is then used instead of the distance metric for the calculating the Güte of kick decisions.

You may want to review the first commit separately.

Fixes #1186

ToDo / Known Issues

• Actually use the calculated walk duration for comparing kick decisions.
• Think long and hard again about how to compare the kicking side to the current support foot
• Clean up the walking engine mess
• Check if the robot can get stuck oscillating between two kick decisions

Ideas for Next Iterations (Not This PR)

How to Test

A robot walking in place in front of a ball should repeatedly switch which kick decision it thinks is best depending on the current support foot.