Support for Overriding With Continuous Plans

[5yler]

Background

[Describe the background for this PR here.
Edit this description and all other fields in square brackets. When you see ✅❌, it means selection between two choices. Leave the ❌ next to ✅ in place until the item is fully resolved, or keep the ❌ only to indicate N/A.]

What's new

• ✅ [New feature description. Only a single new major feature is allowed per PR.]
• ✅❌ New feature is accompanied by new test: [name and description of new test].

Related work

• ✅❌ This PR needs [link]
• ✅❌ [link] needs this PR

TODOs / Nice-To-Haves

• ❌ [Add new unit test for new feature.]
• ❌ [Add new system test for new feature.]

Tests

1. ✅❌ Tested on simulated robot: [Describe the tests/commands used.]
2. ✅❌ Tested on physical robot: [Describe the tests/commands used.]

Quality

3. ✅❌ New code is written in pure C++17 to the best of my knowledge.
4. ✅❌ New code follows established C++17 best practices (C++ Core Guidelines).
5. ✅❌ New code passed clang-format and cpplint at least, if not all of our static code analysers.
6. ✅❌ I have included Doxygen-style documentation in the new C++ code.

Note to reviewers

Please verify that all sections are accurately filled out and that all 6 numbered entries above are present and ticked/checked off, with their requirements met, if applicable.