Merge branch 'IMAGINERefactoring' of https://gitlab.com/ArmarX/RobotAPI into IMAGINERefactoring

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

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp

source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt

...BasisBoard/JointController/JointPWMPositionController.cpp

...ard/JointController/ParallelGripperPositionController.cpp

...ard/JointController/ParallelGripperVelocityController.cpp

...perEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp

...therCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp

...rEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h

...RobotAPI/libraries/KITGripperEtherCAT/test/CMakeLists.txt

...raries/KITGripperEtherCAT/test/KITGripperEtherCATTest.cpp

.../libraries/RobotStatechartHelpers/KinematicUnitHelper.cpp

...PI/libraries/RobotStatechartHelpers/KinematicUnitHelper.h

source/RobotAPI/libraries/core/PIDController.cpp