[refactor] Move control scheme to its own module
The "control" part of the NRM is bound to change and become more complex in the near future, so move it in its own module. This refactor also introduce some controller logic. Control is split into 3 steps: planning, execution and updates. The goal is to use this new code organization as a way to abstract different control policies that could be implemented later. Note that we might at some point move into a "control manager" and a bunch of "policies" and "actuators", as a way of matching typical control theory vocabulary.
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