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

Add NJointCartesianWaypointControllerRuntimeConfig::forceThresholdInRobotRootZ and improve visualization

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

* 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

* Added NJointCartesianWaypointController
* Added CartesianWaypointControlGuiGuiPlugin
* changed CartesianWaypointControllerConfig to include the acc ramps

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

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

* thread joining is now done in onExitComponent
* new hooks for Init/Connect/Disconnect/Exit are provided
* refactor old controllers using the original functions

TCPControllerSubUnit: Fixed isRequested()