* add setRobot
* allow construction without proxy or robot
* add setRobotPose

This behavior can be disabled by calling setClearLayersOnDisconnect(false)

It now supports views for different reference frames

Add option to optimize nullspace if target was reached to CartesianWaypointControlGuiWidgetController

Improve NJointCartesianWaypointController (it optionally keeps optimizing the Nullspace even if the target was reached)

Also rename CartesianWaypointControllerConfigWithForceLimit to NJointCartesianWaypointControllerRuntimeConfig

Frame tracking

See merge request ArmarX/RobotAPI!54

The robot's global pose can be set manually

Added dynamic workspace limit check in NJointTaskSpaceDMPController

Resolve "RobotStateTest fails"

Closes #13

See merge request ArmarX/RobotAPI!53

We can get the current robot state and save it.
Later, we can sync a local robot to that saved state.

* The old controllers are called SynchronousNJointController
* Added the common base class NJointControllerBase

* AsynchronousNJointController provides rtRunIterationBegin and rtRunIterationEnd.
 The former is called before and the second after all SynchronousNJointController are executed

Robot state component/platform pose

See merge request ArmarX/RobotAPI!52