[TASK] Utility package

[Andeshog]

Description of task

Since there are quite a lot of functions that are being implemented and used in several different packages, creating a common utility package would be useful. An example is the ssa function by Fossen. The package could be called something like "vortex_utils", with the namespace "vortex_utils". Just a suggestion. It may be best to have it as a separete repository, like vortex_msgs, so that it can be used for both auv and asv.

Suggested Workflow

• Find relevant utility methods.
• Check out this guide on how to set up the library.

Specifications

No response

Contacts

• @Andeshog

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)