v0.4.0

Release version 0.4.0

### Added
- Rotation of BicycleCar around the point.
- Circle-line intersection.
- Angle between three points computation.
- Is on right side of line function.

### Changed
- When set up BicycleCar heading, set the interval to `[-pi, +pi]`.
- Update drivable method to include heading.

### Fixed
- Minimum turning radius used as curb-to-curb.
- Max steering in ut.