Add laser scanner features to teb planning

This contains the move of the LaserScannerFeatureExtraction into navigation (!72 (merged)).

Implement merging of the features from individual sensors into one list while removing duplicates. Add the features to the dynamic scene and use them as teb obstacles.

source/armarx/navigation/components/navigation_memory/Component.cpp

@@ -106,6 +106,10 @@ namespace armarx::navigation::components::navigation_memory
                       "p.visuTransparent",
                       "Enable visualization of humans a bit transparent.");
 
+        def->optional(properties.visuHumanMaxAgeMs,
+                "p.visuHumanMaxAgeMs",
+                "The maximum age of humans to be drawn in ms.");
+
         def->optional(properties.visuRooms,
                       "p.visuRooms",
                       "Enable visualization of rooms.");
@@ -562,7 +566,7 @@ namespace armarx::navigation::components::navigation_memory
             visu.drawCostmaps(layers, p.visuCostmaps);
 
             // Humans
-            visu.drawHumans(layers, p.visuHumans, p.visuTransparent);
+            visu.drawHumans(layers, p.visuHumans, p.visuTransparent, Duration::MilliSeconds(p.visuHumanMaxAgeMs));
             // Rooms
             visu.drawRooms(layers, p.visuRooms);