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/human/HumanFilter.h

@@ -50,7 +50,7 @@ namespace armarx::navigation::human
             double initial_state_rot_cov = 0.01;
             double alpha = 0.5;
 
-            float velocityAlpha = 0.7;
+            float velocityAlpha = 0.5;
         };
 
         /**
@@ -59,7 +59,7 @@ namespace armarx::navigation::human
          * @param pose0 the first known pose of the human
          * @param detectionTime the point of detection
          */
-        HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime);
+        HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime, bool useKalmanFilter);
 
         /**
          * @brief HumanFilter::propagation propagate the system model to the given point in time. This
@@ -105,6 +105,7 @@ namespace armarx::navigation::human
          */
         Human human{};
         std::unique_ptr<UnscentedKalmanFilter<SystemModelT>> ukf = nullptr;
+        bool useKalmanFilter;
     };
 
 } // namespace armarx::navigation::human