Merge branch 'Ice3.7' into DebugDrawerTopic

.../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

...ers/NJointHolonomicPlatformRelativePositionController.cpp

...s/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp

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

...I/components/units/RobotUnit/test/BasicControllerTest.cpp

...e/RobotAPI/components/units/RobotUnit/test/CMakeLists.txt

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp

...ce/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.cpp

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

...obotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp

...lugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp

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

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h

source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp