[PI Sprint 24/25 / PD-468] - [Feature] Add Hungarian Algorithm

[mbsaloka]

Jira Link:

https://ichiro-its.atlassian.net/browse/PD-468

Description

Hungarian algorithm implementation, used for landmark matching in likelihood calculation within the MCL algorithm.

Type of Change

• Bugfix
• Enhancement
• New feature
• Breaking change (fix or feature that would cause the existing functionality to not work as expected)

How Has This Been Tested?

• New unit tests added.
• Manual tested.

Checklist:

• Using Branch Name Convention
  • feature/JIRA-ID-SHORT-DESCRIPTION if has a JIRA ticket
  • enhancement/SHORT-DESCRIPTION if has/has no JIRA ticket and contain enhancement
  • hotfix/SHORT-DESCRIPTION if the change doesn't need to be tested (urgent)
• I have commented on my code, particularly in hard-to-understand areas.
• I have made the documentation for the corresponding changes.

[FaaizHaikal]

Can we create enum for these constants to give better context?

enum class Mask {
    NONE = 0,
    STAR = 1,
    PRIME = 2
};

[FaaizHaikal]

The else block can be removed because the if condition returns the function.

Suggested change

	if (row == -1 || col == -1) {
	step = 6;
	return;
	} else {
	mask[row][col] = PRIME;
	if (star_in_row(row)) {
	col = find_star_in_row(row);
	row_cover[row] = COVERED;
	col_cover[col] = UNCOVERED;
	} else {
	path_row_0 = row;
	path_col_0 = col;
	step = 5;
	return;
	}
	}
	if (row == -1 || col == -1) {
	step = 6;
	return;
	}
	mask[row][col] = PRIME;
	if (!star_in_row(row)) {
	path_row_0 = row;
	path_col_0 = col;
	step = 5;
	return;
	}
	col = find_star_in_row(row);
	row_cover[row] = COVERED;
	col_cover[col] = UNCOVERED;