Feature/new trajectory description

@groegerto , @LennartGr see the new interface of the local planner: it receives a GlobalTrajectory (this is what we already used ...) and returns a LocalTrajectory (which better resembles the trajectory representation within TEB).

Furthermore, I implemented a new trajectory following strategy.

examples/components/example_client/Component.cpp

@@ -40,7 +40,7 @@
 #include <armarx/navigation/global_planning/Point2Point.h>
 #include <armarx/navigation/client/PathBuilder.h>
 #include <armarx/navigation/global_planning/AStar.h>
-#include <armarx/navigation/trajectory_control/TrajectoryFollowingController.h>
+#include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
 
 
 namespace armarx::navigation::components::example_client
@@ -108,7 +108,7 @@ namespace armarx::navigation::components::example_client
             client::NavigationStackConfig()
                 .general({} /*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/)
                 .globalPlanner(global_planning::AStarParams())
-                .trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
+                .trajectoryController(traj_ctrl::local::TrajectoryFollowingControllerParams()));  // FIXME
 
         // Example of registering a lambda as callback.
         getNavigator().onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
@@ -207,7 +207,7 @@ namespace armarx::navigation::components::example_client
             client::NavigationStackConfig()
                 .general({} /*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/)
                 .globalPlanner(global_planning::AStarParams())
-                .trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
+                .trajectoryController(traj_ctrl::local::TrajectoryFollowingControllerParams()));  // FIXME
 
         // Example of registering a lambda as callback.
         getNavigator().onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
@@ -283,7 +283,7 @@ namespace armarx::navigation::components::example_client
             client::NavigationStackConfig()
                 .general({} /*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/)
                 .globalPlanner(global_planning::Point2PointParams())
-                .trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
+                .trajectoryController(traj_ctrl::local::TrajectoryFollowingControllerParams())); // FIXME
 
         Clock::WaitFor(Duration::Seconds(1));