Trim path fails if the next waypoint further than lookahead distance

[DanCarruth]

If the waypoints given to the local planner are beyond the path_lookahead distance, path trimming fails.

If you set the local_planner_node path_look_ahead to 10.0 and trim_path to true, it crashes on Path.Init().

On one of my ARC Case Study simulations, the sim 'ran' but there was no path in the Path plotter.