Merge remote-tracking branch 'origin/master' into CartesianVelController

scenarios/SpeechObserver/config/DummyTextToSpeechApp.cfg

.../RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp

...botAPI/components/DummyTextToSpeech/DummyTextToSpeech.cpp

source/RobotAPI/components/units/HeadIKUnit.cpp

...obotUnit/NJointControllers/NJointTrajectoryController.cpp

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

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

...components/units/RobotUnit/Units/TCPControllerSubUnit.cpp

...I/components/units/RobotUnit/Units/TCPControllerSubUnit.h

...nts/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp

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

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

...RobotAPI/interface/visualization/DebugDrawerInterface.ice

source/RobotAPI/libraries/CMakeLists.txt

.../RobotAPI/libraries/RobotStatechartHelpers/CMakeLists.txt

...PI/libraries/RobotStatechartHelpers/ForceTorqueHelper.cpp

...tAPI/libraries/RobotStatechartHelpers/ForceTorqueHelper.h

...aries/RobotStatechartHelpers/PositionControllerHelper.cpp

...braries/RobotStatechartHelpers/PositionControllerHelper.h

...braries/RobotStatechartHelpers/RobotStatechartHelpers.cpp