WIP: Fix/obstacle avoiding controller behavior

Issues to be fixed:

• Overshooting when reaching target pose (likely implemented)
• Movement into opposed / arbitrary direction (based on previous movement) (implemented)

added 4 commits

• a02714e3 - ObstacleAvoidingPlatformUnit: additional logging
• 976f6afe - ObstacleAvoidingPlatformUnit: clearing buffer before setting velocity to zero (optional)
• 1eea24ff - ObstacleAvoidingPlatformUnit: clipping velocity to prevent overshooting
• 83f0580c - ObstacleAvoidingPlatformUnit: adding comment

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changed the description

added 1 commit

• 70be14e3 - ObstacleAvoidingPlatformUnit: fixing header include order

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added 1 commit

• c3b7f0ef - ObstacleAvoidingPlatformUnit: invalidate() for buffer to be more expressive

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added 2 commits

• ac361458 - ObstacleAvoidingPlatformUnit: using cosine similarity from simox util
• 0b08e960 - ObstacleAvoidingPlatformUnit: minor cleanup

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resolved all threads

resolved all threads

added 1 commit

• 6e84cd4d - ObstacleAvoidingPlatformUnit: removing simox util header

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added 1 commit

• a373f9b9 - Add waypoint functionality

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added 1 commit

• 4833bf96 - chore: Documentation

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marked the checklist item Overshooting when reaching target pose (likely implemented) as completed

marked the checklist item Movement into opposed / arbitrary direction (based on previous movement) (implemented) as completed

added 1 commit

• ce4eb000 - Allow setting min velocities (if near target and on general).

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added 9 commits

• ce4eb000...42e05080 - 4 commits from branch master
• 7b7775d2 - Merge branch 'fix/obstacle_avoiding_controller_behavior' of gitlab.com:ArmarX/RobotAPI
• b6ece630 - Merge branch 'fix/obstacle_avoiding_controller_behavior' of gitlab.com:ArmarX/RobotAPI
• 370377ea - Merge branch 'fix/obstacle_avoiding_controller_behavior' of gitlab.com:ArmarX/RobotAPI
• 65106e9d - Clamp min velocity to target velocity (Fabian PK)
• d7d79deb - Update two maps since obstacles do not exist anymore (Fabian PK)

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By ARMAR-6 on 2021-02-24T08:04:17 (imported from GitLab)

added 22 commits

• d7d79deb...7a1e2cb8 - 21 commits from branch master
• 400370d5 - Merge branch 'master' into fix/obstacle_avoiding_controller_behavior

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By ARMAR-6 on 2021-02-24T08:10:13 (imported from GitLab)