Merge remote-tracking branch 'origin/master' into armem/dev

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

source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp

...omponents/KITProstheticHandUnit/KITProstheticHandUnit.cpp

source/RobotAPI/components/units/ForceTorqueObserver.cpp

...e/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp

source/RobotAPI/components/units/HeadIKUnit.cpp

source/RobotAPI/components/units/KinematicUnit.cpp

source/RobotAPI/components/units/KinematicUnitObserver.cpp

source/RobotAPI/components/units/KinematicUnitSimulation.cpp

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

...obotUnit/ControllerParts/CartesianImpedanceController.cpp

.../NJointControllers/NJointTaskSpaceImpedanceController.cpp

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

...its/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp

...s/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp

.../RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp

...mponents/units/RobotUnit/util/ControlThreadOutputBuffer.h

source/RobotAPI/components/units/TCPControlUnit.cpp

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp

source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp