<Down>

Modified gui, minor code improvements, some bug fixes

improvements:
replaces c-casts with c++ casts (mostly static_cast)
replaced the magig numbers for the column index with an enum

bug fixes:
the combo box now shows the selected joint on startup
removed the empty rows and columns from the joint tabel (it used to be a 2mX2n table but only mXn was used)
on startup the automatic selected control mode can be used. (some signals were not emitted)

gui changes:
changed the slider range from [0,99] to [-100,100]
added a spin box with a threshold for jitter. values in (-box.value,box.value) will be displayed as 0 in the table
in velocity control mode the slider resets to 0 when the mouse key is released.
removed some elements (requestUnitCheckBox, labelKinematicUnitState, pushButtonKinematicUnitInit, pushButtonKinematicUnitTest, pushButtonKinematicUnitStart, pushButtonKinematicUnitStop, pushButtonKinematicUnitPos2)
changed the column names (e.g.: Emergency mode instead of Em)