Refactor body-related classes and add new interoceptor functionality

core/include/body/bodyMap.h

@@ -0,0 +1,17 @@
+#ifndef _BODY_MAP_H
+#define _BODY_MAP_H
+
+#include <set>
+#include <cstdint>
+
+#include <body/limb.h>
+
+class BodyMap {
+public:
+    BodyMap() = default;
+    ~BodyMap() = default;
+
+    std::set<uint32_t, BodyLimb> limbs;
+};
+
+#endif // _BODY_MAP_H