Merge remote-tracking branch 'origin/IMAGINERefactoring' into armar6demo

etc/cmake/FindSOEM.cmake

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

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

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

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

...nits/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h

...tAPI/components/units/RobotUnit/Devices/ControlDevice.cpp

...botAPI/components/units/RobotUnit/Devices/ControlDevice.h

...API/components/units/RobotUnit/Units/KinematicSubUnit.cpp

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

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h

...API/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.cpp

...otAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.h

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h

source/RobotAPI/libraries/ArmarXEtherCAT/ArmarXEtherCATFwd.h

source/RobotAPI/libraries/ArmarXEtherCAT/CMakeLists.txt

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h