Merge branch 'master' into kitgripper

# Conflicts:
#	source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
#	source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
#	source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
#	source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.h
#	source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.h
#	source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt
#	source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp