Feature/costmap integration

Many changes related to my work on mobile manipulation.

The collision checking is now done initially during onConnectComponent. A costmap will be created and global planning is now based on this. Global planning now only takes ~1ms. However, the creation of the costmap might take several seconds (~10-20s).

Instead of A*, users can now also select the ShortestPathFasterAlgorithm which is applicable if the graph has non-positive edge weights. This might be the case if the distance to the obstacles is considered. The resulting trajectory:

scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg

@@ -76,6 +76,14 @@ ArmarX.ApplicationName = LeftHandUnitApp
 # ArmarX.EnableProfiling = false
 
 
+# ArmarX.HandUnitDynamicSimulation.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.HandUnitDynamicSimulation.ArVizTopicName = ArVizTopic
+
+
 # ArmarX.HandUnitDynamicSimulation.EnableProfiling:  enable profiler which is used for logging performance events
 #  Attributes:
 #  - Default:            false
@@ -131,6 +139,13 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = LeftHandUnit
 # ArmarX.HandUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent
 
 
+# ArmarX.HandUnitDynamicSimulation.Side:  Name of the hand (left, right)
+#  Attributes:
+#  - Case sensitivity:   yes
+#  - Required:           yes
+# ArmarX.HandUnitDynamicSimulation.Side = ::_NOT_SET_::
+
+
 # ArmarX.HandUnitDynamicSimulation.SimulatorProxyName:  Name of the simulator proxy to use.
 #  Attributes:
 #  - Default:            Simulator
@@ -139,6 +154,14 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = LeftHandUnit
 # ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
 
 
+# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName:  Name of the working memory that should be used
+#  Attributes:
+#  - Default:            WorkingMemory
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName = WorkingMemory
+
+
 # ArmarX.HandUnitDynamicSimulation.inheritFrom:  No Description
 #  Attributes:
 #  - Default:            RobotConfig