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Implements a collision clearance cost based on distance checks #6570

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Implements a collision clearance cost based on distance checks

Implements a collision clearance cost based on distance checks #6570

Run time

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Job Run time
rolling-ci + ccov
12m 58s
rolling-ci-testing + ikfast + clang-tidy (delta)
16m 13s
humble-ci
9m 9s
humble-ci-testing
7m 2s
45m 22s