Add yaml conversions and related tests

[marrts]

For CollisionCoeffData and TrajOptCollisionConfig

[Levi-Armstrong]

I think it would be best to update CollisionCoeffData to resemble the CollisionMarginData.

[marrts]

I think it would be best to update CollisionCoeffData to resemble the CollisionMarginData.

If you mean in structure, I'm not sure what you mean by that. I don't think it makes sense to use CollisionMarginPairData as a object in the class, nor do I think the increment, scale, or getMax methods make sense to include in CollisionCoeffData.

If you mean in terms of yaml processing, CollisionMarginData doesn't actually have yaml methods defined, so there is nothing to reference there

EDIT Or do you mean just adding a getter method to get all the pairs that have been set.

[marrts]

I think it would be best to update CollisionCoeffData to resemble the CollisionMarginData.

If you mean in structure, I'm not sure what you mean by that. I don't think it makes sense to use CollisionMarginPairData as a object in the class, nor do I think the increment, scale, or getMax methods make sense to include in CollisionCoeffData.

If you mean in terms of yaml processing, CollisionMarginData doesn't actually have yaml methods defined, so there is nothing to reference there

EDIT Or do you mean just adding a getter method to get all the pairs that have been set.

I added set default, get default, and get pair data methods to CollisionCoeffData