- moveTo() now uses the global position provided by the SelfLocalization
component to control the platform with an instance of
NJointHolonomicPlatformGlobalPositionController

KITHandUnit: fixes timing problem when sending commands too fast, fixes shutdown from scenarioManager and shutdown for lost device

It bundles multiple HandUnits and provides access to them via name.
This makes HandUnits usable in statecharts

Add NJointCartesianWaypointControllerRuntimeConfig::forceThresholdInRobotRootZ and improve visualization

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

It now supports views for different reference frames

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

Also rename CartesianWaypointControllerConfigWithForceLimit to NJointCartesianWaypointControllerRuntimeConfig

The robot's global pose can be set manually

Added dynamic workspace limit check in NJointTaskSpaceDMPController

* 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