Do not use ego frame in MPC, use global frame throughout

guided_mrmp/controllers/multi_mpc.py

guided_mrmp/controllers/multi_path_tracking.py

guided_mrmp/controllers/multi_path_tracking_db.py

guided_mrmp/controllers/optimizer.py

guided_mrmp/controllers/path_tracker.py

guided_mrmp/controllers/utils.py

guided_mrmp/controllers/vis_helpers.py

guided_mrmp/simulator.py