Draft: Adding trajectory-based fitness function to GA and tests relating to determinism

Extending the GA with a fitness function calculating a task-solving trajectory with OMPL and using trajectory-based cycle time or mechanical energy as fitness score. Tests explore determinism of various components of the GA. Whitman-tasks sampling is added, such that the GA's hyper parameters can be optimized on a generated set of Whitman tasks and tested on the 100 test task located in the tasks submodule.

Currently storing solution times for computing a trajectory between goals in the task are depending on code changes in mcs and not included in this MR.