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

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  Add more verbose output to RobotUnitModuleControlThread
  Add newline to output
  Add NJointController::rtGetClassName and NJointController::rtGetInstanceName
  Add ARMARX_RT_LOGF_WARNING
  Add DeviceBase::rtGetDeviceName
  fixed funny c++ compile requirement.
  CartesianPositionController: OptimizeNullspace CartesianPositionController: autoclear feed forward velocity CartesianVelocityController: Limit max joint velocity and descriptive comment
  statecharts use now the robot pool
  DebugDrawer: Remove circle visus when layer is cleared