Merge branch 'armar6demo' into RampedAcceleration

* armar6demo: (67 commits)
  added haertbeat for laser scanners (uncommited from robot)
  improved head control
  fixed ethercat shutdown
  task space dmp  controller: moved setting of target workspace to after phase stop check
  less spam
  more startup output
  Added SpeechObserver to RobotAPI
  added soft control by force; target trigger by distance
  added changed wiping position
  fixed the onInitComponent() compiling error
  added force adaptive control
  added deadzone for adaptivekp
  added adaptive position control
  added missing member
  added missing member
  KinematicUnitObserver rejects now joint that are not in the joint set instead of throwing an error
  KinematicSubUnit reports now also linked joints
  fixed robot visu for joints that are not in the jointset
  added debug viewer for target pose
  added workspace for controller
  ...

Conflicts:
	source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp