add the function checkSetOfControllersToActivate which allows deriving classes to check the set of controllers being requested (and throw an exception in case the set is not ok)
add a bit of doxygen

add factories for variant data classes from RobotAPI to be used by the variant widget

See merge request !25

Conflicts:
	source/RobotAPI/libraries/core/Trajectory.cpp

features:
	list ControlDevices + ControlTargets
	list SensorDevices + SensorValues
	list LVL1Controllers and invoke functions that have a WidgetDescription
	list ControllerClasses and create LVL1Controllers if the classes support it by providing a WidgetDescription used for configuration
	load libraries into the RobotUnit

major changes to version 1:
        LVL0Controllers for one unit (e.g. platforn, joint) are now grouped in a ControlDevice
        DataUnits are replaced by SensorDevices containing a SensorValue
        ControlTargets and SensorValues areautomatically swapped out to the non rt side
        there are default implementations for kinematic, platform, force torque and inertial measurement unit
        lvl1 controllers can provide a WidgetDescription used to configure and create them
        lvl1 controllers can provide WidgetDescriptions for methods they provide
        the robot unit now is initialized in multiple phases

skip loading the robot by the KinematicUnit if it already was set (this may be done by a derived class prior to calling addObject for the KinematicUnit on the armarx manager)
change source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp to use std::abs instead of the c function abs

Trajectory scaling

See merge request !24

Conflicts:
	source/RobotAPI/applications/CMakeLists.txt
	source/RobotAPI/components/units/CMakeLists.txt
	source/RobotAPI/drivers/CMakeLists.txt
	source/RobotAPI/interface/CMakeLists.txt

edited the level 1 holonomic platform velocity pass through controller to be used with the real platform

remove leftovers from a merge conflict (pushed .orig files)

Conflicts:
	source/RobotAPI/applications/CMakeLists.txt
	source/RobotAPI/components/units/CMakeLists.txt
	source/RobotAPI/drivers/CMakeLists.txt