Transforms to global frame before checking quaternion

[robbiefish]

This PR allows goals to be accepted if the quaternion is valid once the goal has been transformed into the global_frame instead of requiring the quaternion to be valid in the original frame it was sent in.

For my application, I have defined the transform from earth -> map. My map frame is in the ENU local tangent plane. Since there is a rotation between ECEF and ENU, that rotation is expressed in my transform tree.

The global_frame that I configure for the planner is still the map frame, and I want to be able to send waypoints in both the earth, and map frame.

When I attempt to send a goal point in the earth frame, the quaternion is not "mostly vertical" in the earth frame, but it is once it has been transformed to the global_frame.