Refactor object pose prediction code

The following discussion from !242 (merged) should be addressed:

• @RainerKartmann started a discussion:

  Follow up:

  Refactor prediction code from source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp into the library RobotAPIArmarXObjects (i.e. something like: ObjectPose predict(vector<ObjectPose> poses, time))