refactorized dmpcontroller

source/RobotAPI/libraries/CMakeLists.txt

source/RobotAPI/libraries/DMPController/CMakeLists.txt

...botAPI/libraries/DMPController/TaskSpaceDMPController.cpp

...RobotAPI/libraries/DMPController/TaskSpaceDMPController.h

source/RobotAPI/libraries/DMPController/test/CMakeLists.txt

...botAPI/libraries/DMPController/test/DMPControllerTest.cpp

...botAPI/libraries/RobotAPINJointControllers/CMakeLists.txt

...NJointControllers/DMPController/NJointCCDMPController.cpp

...PINJointControllers/DMPController/NJointCCDMPController.h

...NJointControllers/DMPController/NJointJSDMPController.cpp

...NJointControllers/DMPController/NJointTSDMPController.cpp

...PINJointControllers/DMPController/NJointTSDMPController.h

...ontrollers/DMPController/NJointTaskSpaceDMPController.cpp

...tControllers/DMPController/NJointTaskSpaceDMPController.h