HD map reconfiguration and cleanup

[ShourryaGuha]

Currently HD map has a lot of spaghetti code and unused parts which have not been well documented.

Task

• Go through the entire module, understand it and refactor it to only include code that is necessary and useful
• Ctrl + f for functions to see if they are actually being referenced in other places
• Document and add function descriptions for undocumented parts of the code

Current progress

• 20th Oct: Currently going through and understanding the code