Merge remote-tracking branch 'origin/master' into TCPUnitWithNewController

* origin/master: (21 commits)
  fixed taskspace dmpcontroller
  added NJointCartesianVelocityControllerWithRamp
  added eigenhelpers
  test on jacobi transpose nullspace
  added finished to dmp
  added binary phasestop control; modified null-space joint vel
  added EigenHelpers
  added more parameters for bimanual ccdmp impedance
  fixed output of bimanualccdmp
  added kratio
  added kratio
  fixed bimanualccdmp
  added bimanualdmpforcecontroller
  added feedback pd control for taskspace DMP controller
  fixed both arm debug observer
  added task space impedance control
  reverted change of tsdmpcontroller
  test on taskspacecontroller
  modified njointtaskspacecontroller
  Added Cartesian Velocity Controller with Ramp
  ...