Merge branch 'master' into TCPSubUnit

...tAPI/components/units/InertialMeasurementUnitObserver.cpp

...botAPI/components/units/InertialMeasurementUnitObserver.h

.../RobotAPI/components/units/RobotUnit/BasicControllers.cpp

...ce/RobotAPI/components/units/RobotUnit/BasicControllers.h

source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp

source/RobotAPI/components/units/RobotUnit/RobotUnit.h

.../components/units/RobotUnit/SensorValues/SensorValueIMU.h

...ents/units/RobotUnit/Units/InertialMeasurementSubUnit.cpp

...onents/units/RobotUnit/Units/InertialMeasurementSubUnit.h

...ui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

...PI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp

...tAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h

...API/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.ui

...RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice

source/RobotAPI/libraries/core/math/MathUtils.h