Provide an abstraction that allows classes to be called during periodic()

[kcooney]

There is an error-prone pattern in the code where users of a class have to remember to call a method on that class on a regular basis (usually via a periodic method). This includes

• MultiPhotonPoseEstimator (publishCameraPosesRelativeTo() needs to be called
  periodically, and needs to know the drive pose
• PhotonVisionPosePublisher (needs to be called regularly with the recent estimates
  from PhotonPoseEstimator or MultiPhotonPoseEstimator)

There was a comment about this in the Robot2025 version of MultiPhotonPoseEstimator.setDrivePose() (named `publishCameraPosesRelativeTo() in the lib2813 version):

TODO(vdikov): This method sits very counter-intuitively in this class. The class is
all about estimating pose and feeding it to the drive train pose estimation. Yet, this
method is feeding a drive-train pose back to it. The MultiPhotonPoseEstimator API
would become cleaner if we remove this method and find other ways to report Camera
poses. kcooney@ has provided several ideas on how we can address that with a better
class/interfaces architecture here: Prospect-Robotics/Robot2025#157 (comment)

More comments are here