normalize UnitListener

currently the UnitListener have some arbitrary differences.
e.g.:

• timestamps (none seemed to use IceUtil::Time which would have the unit of time):
• some do not report timestamps (ForceTorqueUnitListener)
• some use long (lets hope this is always the same unit) for timestamps (KinematicUnitListener)
• some use TimestampBase, which contains a long (lets hope again this is always the same unit)
• values:
  • some units use framed pos etc (ForceTorqueUnitListener)
  • some use simply vectors of floats (how many elements?) (InertialMeasurementUnitListener)
  • some use a few floats (at least this limits the count, but what is the frame?) (PlatformUnitListener)

also some listeners use identical function names (ForceTorqueUnitListener::reportSensorValues / InertialMeasurementUnitListener::reportSensorValues). The result is, there can't be a listener being ForceTorqueUnitListener and InertialMeasurementUnitListener since ice does not alow function overloads.

there are probably other problems.
we should collect these problems and fix them.
the fix will probably be a breaking change, so we should fix as many of such problems as we can at the same time.
since simoxV3 will be a breaking change, our transition to simoxV3 will probably also be (so this would be a good point to also fix this problem)

changed milestone to %Conversion to Simox V3