Add estimateAt to Human

source/armarx/navigation/human/types.cpp

+#include "types.h"
+
+namespace armarx::navigation::human
+{
+    core::Pose2D
+    Human::estimateAt(DateTime& time) const
+    {
+        double dt = (time - detectionTime).toSecondsDouble();
+        core::Pose2D estimation{pose};
+        estimation.translation() += linearVelocity * dt;
+        return estimation;
+    }
+
+} // namespace armarx::navigation::human

source/armarx/navigation/human/types.h

@@ -32,6 +32,8 @@ namespace armarx::navigation::human
         core::Pose2D pose;
         Eigen::Vector2f linearVelocity;
         DateTime detectionTime;
+
+        core::Pose2D estimateAt(DateTime& time) const;
     };
 
     struct HumanGroup