Add Layer to record FullSystem Stats

[sauravbanna]

Description

Adds a new layer to keep track of FullSystem Stats
These are stats that help us measure the performance of FullSystem -> how "well" it plays

Testing Done

Manual testing to

1. make sure stats were being logged properly
2. tune the filters on how stats are calculated to reduce noise and increase how well it matches observed gameplay

Resolved Issues

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue