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Minimum jerk NlOpt Motion Converter & CSV Exporter

Mirko Wächter requested to merge GlobalMotionConverter into master

I wrote a motion converter which does not only consider a single frame but always a window of frames. To make sure that the whole motion is optimized, the windows overlap at the sides and optimization is anchored at the side of the windows.

Also I added a CSV exporter for the kinematic and pose sensor.

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