Add a common base class for both HolonomicPlatformVelocity controllers
and add a property with which to choose one.
Make the acceleration limits also configurable via properties.

This reduces the amount of headers that are necessary for different use cases

Refactored the whole RobotUnit (split it in modules, cleaned up code, added doxygen, removed undefined behavior, reduced data sharing)

Renaming Lvl0Controllers / Lvl1Controllers to JointControllers / NJointControllers (replacing names)

change LVL1HolonomicPlatformUnitVelocityPassThroughController to take a config of its specified type

major changes to version 1:
        LVL0Controllers for one unit (e.g. platforn, joint) are now grouped in a ControlDevice
        DataUnits are replaced by SensorDevices containing a SensorValue
        ControlTargets and SensorValues areautomatically swapped out to the non rt side
        there are default implementations for kinematic, platform, force torque and inertial measurement unit
        lvl1 controllers can provide a WidgetDescription used to configure and create them
        lvl1 controllers can provide WidgetDescriptions for methods they provide
        the robot unit now is initialized in multiple phases

edited the level 1 holonomic platform velocity pass through controller to be used with the real platform