Merge branch 'master' into Armar6RT

etc/doxygen/pages/armarpose.dox

source/RobotAPI/components/units/CMakeLists.txt

source/RobotAPI/components/units/relays/CMakeLists.txt

...PI/components/units/relays/ForceTorqueUnitListenerRelay.h

...nents/units/relays/InertialMeasurementUnitListenerRelay.h

...tAPI/components/units/relays/KinematicUnitListenerRelay.h

...obotAPI/components/units/relays/RobotStateListenerRelay.h

source/RobotAPI/components/units/relays/syntaxcheck.cpp

...s/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp

...ui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

.../gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h

...gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui

...PI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp