Moved Trajectory to aron::common

- the RobotStateMemory requires a running RobotUnit.

aron fixes for better code generation. Finalized maybe types. Merged master and armem/dev into aron/dev. Fixed build issues. Repaired ArMemMemoryTest test since an update now adds a provider segment (instead of throwing MisingEntryException)

robotstatememory: changed field name of streamed data: removing e.g 'sens.Platform' as it prevents direct casting (e.g. JointState)