[TASK] rewrite ASV thruster interface

[albertomors]

Description of task

rewrite https://github.com/vortexntnu/vortex-asv/tree/refactor_thruster_interface/motion/thruster_interface_asv
in a similar way as https://github.com/vortexntnu/vortex-auv/tree/main/motion/thruster_interface_auv

Suggested Workflow

• copy paste the auv code
• change number of thrusters from 8 to 4
• change parameters for freya
• run simulation comparison tests with old code and new code
• document

Specifications

No response

Contacts

@albertomors

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)