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

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

...ce/RobotAPI/components/units/RobotUnit/BasicControllers.h

...intControllers/NJointKinematicUnitPassThroughController.h

source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp

...nts/units/RobotUnit/SensorValues/SensorValueForceTorque.h

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

...otAPI/components/units/RobotUnit/Units/KinematicSubUnit.h

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

source/RobotAPI/libraries/core/PIDController.cpp

source/RobotAPI/libraries/core/PIDController.h

source/RobotAPI/libraries/core/Trajectory.cpp

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

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