Improve armar7 platform movement

assigned to @utetg_groeger

added 2 commits

• bafa5e1c - Implement controller
• f9f1fdef - Use new NJointHolonomicPlatformVelocityControllerWithRamp in RobotUnit

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@utetg_groeger thanks for implementing this! To me, it seems to be already complete to test it on ARMAR-7. That was fast! Please also do so and let me know when you are testing it.

Regarding merging this I have added several comments. We should allow both controllers be used in the PlatformSubUnit. As the ControlData struct is similar, we should be able to reuse parts of the existing data structures - eventually, we can also introduce a base class for both.

resolved all threads

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• 35be75cc - Implement properties to choose controller

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• d4bc11c2 - Implement properties to choose controller

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• 4e612111 - Fix movement after emergency stop

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• 9b06be9a - test

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• b82f9b94 - test

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• 7cd7b561 - test

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• 487258b2 - test

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• fc15f4db - test

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• 2a8cb438 - Test

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• 9bdaa7e1 - Test

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• c26ac5d6 - Test

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• c31c3d5d - Test:wq

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• b3ecd41e - Test

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• d08ce3d1 - Test

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• 824b9790 - T

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• 5da8f7ab - T

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• ccf676a4 - T

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• 880f05bb - T

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• 9d8defd6 - asd

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• 73d147ab - T

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• 9b5e8431 - T

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• 256e8b12 - Implement separate 2dim CartesianVelocityRamp

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@utetg_groeger please let me know if I should review this PR.

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• ad68bd49 - Fix set current velocity in controller pre activate

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• ad68bd49...bad9c1a1 - 5 commits from branch master
• 0231bec3 - Merge remote-tracking branch 'origin/master' into feature/improve-armar7-platform-movement

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merged

mentioned in commit 79b8b7f2