Updated Segment implementation (Unified two existing ones) and updated existing memories

...onents/armem/server/RobotStateMemory/RobotStateMemory.cpp

source/RobotAPI/libraries/armem/CMakeLists.txt

source/RobotAPI/libraries/armem/server/segment/Segment.cpp

source/RobotAPI/libraries/armem/server/segment/Segment.h

...libraries/armem/server/segment/SpecializedCoreSegment.cpp

...I/libraries/armem/server/segment/SpecializedCoreSegment.h

...aries/armem/server/segment/SpecializedProviderSegment.cpp

...braries/armem/server/segment/SpecializedProviderSegment.h

...API/libraries/armem/server/segment/SpecializedSegment.cpp

...otAPI/libraries/armem/server/segment/SpecializedSegment.h

...raries/armem/server/segment/detail/SpecializedSegment.cpp

...ibraries/armem/server/segment/detail/SpecializedSegment.h

...ce/RobotAPI/libraries/armem_motions/aron/MDBReference.xml

...RobotAPI/libraries/armem_motions/server/MotionSegment.cpp

...e/RobotAPI/libraries/armem_motions/server/MotionSegment.h

...botAPI/libraries/armem_motions/server/mdb_conversions.cpp

...RobotAPI/libraries/armem_motions/server/mdb_conversions.h

source/RobotAPI/libraries/armem_mps/CMakeLists.txt

...obotAPI/libraries/armem_mps/aron/JointSpaceTrajectory.xml

...RobotAPI/libraries/armem_mps/aron/TaskSpaceTrajectory.xml