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

CMakeLists.txt

data/RobotAPI/VariantInfo-RobotAPI.xml

source/RobotAPI/components/units/HeadIKUnit.cpp

source/RobotAPI/components/units/RobotUnit/CMakeLists.txt

...t/NJointControllers/NJointCartesianVelocityController.cpp

...nit/NJointControllers/NJointCartesianVelocityController.h

...Controllers/NJointCartesianVelocityControllerWithRamp.cpp

...ntControllers/NJointCartesianVelocityControllerWithRamp.h

...ers/NJointHolonomicPlatformRelativePositionController.cpp

...llers/NJointHolonomicPlatformRelativePositionController.h

.../NJointControllers/NJointTaskSpaceImpedanceController.cpp

...it/NJointControllers/NJointTaskSpaceImpedanceController.h

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

...tAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp

...botAPI/components/units/RobotUnit/Units/PlatformSubUnit.h

...components/units/RobotUnit/Units/TCPControllerSubUnit.cpp

...I/components/units/RobotUnit/Units/TCPControllerSubUnit.h

source/RobotAPI/components/units/RobotUnit/util/RtTiming.h

source/RobotAPI/interface/core/FramedPoseBase.ice

...s/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice