SmoothControl.cpp poor structure

[JasonGibson274]

SmoothControl.cpp is poorly structured as a class. It uses class members to pass around data to related methods instead of just returning a value. Specifically it uses class members as temporary storage variables.

For example getLineOfSSightAndHeading() returns void and sets the heading_ variable instead of just returning a value from the method.

class members listed below should be deleted.

• los_
• heading_
• tar_orientation_
• theta_
• delta_
• curPose_

Method should be restructured accordingly.

[Alescontrela]

Fixed