* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

    modernize-avoid-bind
    modernize-deprecated-headers
    modernize-redundant-void-arg
    modernize-replace-auto-ptr

* formatting
* only allow positive pwm

# Conflicts:
#	source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h

extended CartesianVelocityController to consider joint limits

See merge request ArmarX/RobotAPI!43

fixed joint limit check: not only near joint limit is considered a violation but also exceeding the joint limit

extended CartesianVelocityController to consider joint limits and disable the joint limits if the they would run over a joint limit

This reverts commit 0ac3031b.

controller

Revert "VelocityControllerHelper: make use of new robotunit function to remove and delete controllers"

This reverts commit a3e0c32a.