(cherry picked from commit e136fb89)

* RampedAcceleration:
  added extra config for position controller and "finished" position and velocity control for head
  added passthrough pwm controller
  increased max velocity in kinematic unit gui
  constant jerk velocity control is now working
  updated basic controller tests
  fixed jump in minjerk controller
  finished basic controller for ramped acceleration velocity controller
  intermediate version of min jerk control
  added pd output filter to pwm velocity controller
  added optional filter to pid controller
  added accelration to kit gripper board
  min jerk controller returns now also the new position
  clean up
  control plots: use svg instead png
  added minJerkPositionController
  manual revert
  added minJerkPositionController
  testing
  ramped acceleration controller

Kevin Hitzler authored 5 years ago and Raphael Grimm committed 5 years ago

Move the call to onExitNJointController() before joining threads in NJointController::onExitComponent

Conflicts:
	source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp

Mirko Wächter authored 5 years ago and Mirko Wächter committed 5 years ago

Conflicts:
	source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp

* armar6demo: (67 commits)
  added haertbeat for laser scanners (uncommited from robot)
  improved head control
  fixed ethercat shutdown
  task space dmp  controller: moved setting of target workspace to after phase stop check
  less spam
  more startup output
  Added SpeechObserver to RobotAPI
  added soft control by force; target trigger by distance
  added changed wiping position
  fixed the onInitComponent() compiling error
  added force adaptive control
  added deadzone for adaptivekp
  added adaptive position control
  added missing member
  added missing member
  KinematicUnitObserver rejects now joint that are not in the joint set instead of throwing an error
  KinematicSubUnit reports now also linked joints
  fixed robot visu for joints that are not in the jointset
  added debug viewer for target pose
  added workspace for controller
  ...

Conflicts:
	source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp