extended CartesianVelocityController to consider joint limits

See merge request ArmarX/RobotAPI!43

fixed joint limit check: not only near joint limit is considered a violation but also exceeding the joint limit

extended CartesianVelocityController to consider joint limits and disable the joint limits if the they would run over a joint limit

This reverts commit 0ac3031b.

controller

Revert "VelocityControllerHelper: make use of new robotunit function to remove and delete controllers"

This reverts commit a3e0c32a.

Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit 6ed9866e)

* Const correctness
* Debug output
* Race condition

Remove unused option from rtDeactivateNJointControllerBecauseOfError and rtDeactivateAssignedNJointControllerBecauseOfError

TCPControllerSubUnit: Fixed isRequested()

* '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