robotunit: emergency stop master is now accesible from the outside to manipulate the emergency stop state

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  Remove unimplemented function generating a warning

Use armarx::GetTypeString instead of getTypeName from RobotUnit/util.h (and remove the later function)

Using this factor, joints can be moved at a lower velocity than one tic of the slider.

If on a reset (in pos or tor mode) the magnitude of the current value is smaller,
the target is set to 0.
This stops slow joint movements when switching from pos to vel mode (since there may be a small velocity due to noise)

Change the base of gui plugins from ArmarXComponentWidgetController to the CRTP version ArmarXComponentWidgetControllerTemplate

Move PDController to its own file and change some functions (add a target radius,rename range to max error)

Add try catch to Lvl1ControllerRegistryEntryHelper::{GenerateConfigDescription, GenerateConfigFromVariants}

Wrap long lines
Apply auto formatting

Store the hashes of control mode and hardware control mode in Lvl0Controller (to compare these modes in a rt thread)