added more basic types

1. we now also have matrix types ({1,2,3,4,5,6,x}X{1,2,3,4,5,6,x}) there also are range/sequence types element 0,0 is accessed via matrix.e0.e0 in case an dimension is X the access is via .at() (since this dimension is represented via a vector) so an X X matrix is a vector of vector of type
2. vector elements are now called e{0,1,2,3,4,5} instead of x,y,zu,v,w

since 2 breaks code in RobotComponents/Armar4 only merge this branch if the same branch is merged in these packages