Added sensors to objects;
Added grasp to robot nodes;
Extended RobotIO::RobotDescription;
Allow reloading of the robot visualization if RobotDescription::KinematicStructure is chosen

* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

    modernize-avoid-bind
    modernize-deprecated-headers
    modernize-redundant-void-arg
    modernize-replace-auto-ptr

improved platform planning demo: showing distance to environment, adding gui widget for smoothing parameter

Hints for starting grasp planner with differnt hants

reduced the number of warnings with -Wall -Wextra -Wpedantic (now < 250 (mostly qhull), before > 10000

Switching to NDEBUG preprocessor define
Tidy up cmake files
Remove some unnecessary checks

Removed some warnings on windows.