Merge branch 'master' into ubuntu_17_10

CMakeLists.txt

data/RobotAPI/VariantInfo-RobotAPI.xml

...obotUnit/NJointControllers/NJointTrajectoryController.cpp

.../RobotUnit/NJointControllers/NJointTrajectoryController.h

.../components/units/RobotUnit/SensorValues/SensorValueIMU.h

...onents/units/RobotUnit/util/ControlThreadOutputBuffer.cpp

.../interface/units/RobotUnit/NJointTrajectoryController.ice

source/RobotAPI/libraries/core/CMakeLists.txt

source/RobotAPI/libraries/core/PIDController.cpp

source/RobotAPI/libraries/core/PIDController.h

source/RobotAPI/libraries/core/TrajectoryController.cpp

source/RobotAPI/libraries/core/TrajectoryController.h

...botAPI/libraries/core/math/LinearizeAngularTrajectory.cpp

...RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h

source/RobotAPI/libraries/core/math/MathUtils.h

source/RobotAPI/libraries/core/test/PIDControllerTest.cpp

source/RobotAPI/libraries/core/test/TrajectoryTest.cpp