Draft: Implement human grouping

Closes #34

source/armarx/navigation/human/ConvexHullGenerator.cpp

+#include "ConvexHullGenerator.h"
+
+#include <boost/geometry.hpp>
+#include <boost/geometry/geometries/register/point.hpp>
+#include <boost/geometry/multi/geometries/register/multi_point.hpp>
+
+using Point = std::pair<double, double>;
+BOOST_GEOMETRY_REGISTER_POINT_2D(Point, double, boost::geometry::cs::cartesian, first, second)
+
+namespace armarx::navigation::human
+{
+
+    shapes::Polygon
+    ConvexHullGenerator::createShape(const HumanGroup& group) const
+    {
+        if (group.humans.empty())
+        {
+            throw InvalidArgumentException("Human group size has to be at least 1");
+        }
+
+        using BoostPoly = boost::geometry::model::polygon<Point>;
+
+        std::vector<Point> coordinates;
+        for (const Human& human : group.humans)
+        {
+            coordinates.emplace_back(human.pose.translation().x(), human.pose.translation().y());
+        }
+
+        BoostPoly poly;
+        BoostPoly hull;
+
+        poly.outer().assign(coordinates.begin(), coordinates.end());
+        boost::geometry::convex_hull(poly, hull);
+
+        std::vector<Eigen::Vector2f> vertices;
+
+        for (auto it = boost::begin(boost::geometry::exterior_ring(hull));
+             it != boost::end(boost::geometry::exterior_ring(hull));
+             ++it)
+        {
+            const double x = boost::geometry::get<0>(*it);
+            const double y = boost::geometry::get<1>(*it);
+
+            vertices.emplace_back(x, y);
+        }
+
+        return {.vertices = vertices};
+    }
+} // namespace armarx::navigation::human