Merge branch 'feature/armem-object-memory-combined-segment-for-articulated-and-normal-objects' into 'master'

Object memory: no longer instantiating articulated object class and instance segments

See merge request ArmarX/RobotAPI!176

Periodic merge of armem/dev into master

See merge request ArmarX/RobotAPI!171

Object memory: articulated objects no longer as separate class and instance segments

See merge request ArmarX/RobotAPI!175

Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>

For each objectID (entity name), return only the latest (if there are multiple in different provider segments)

Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>

# Conflicts:
#	source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
#	source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
#	source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
#	source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
#	source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
#	source/RobotAPI/libraries/armem/CMakeLists.txt
#	source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp

Resolve "Update ObjectFinder to PriorKnowledgeData"

Closes #59

See merge request ArmarX/RobotAPI!174

Added Debug output to NJointTaskSpaceImpedanceDMPController, fixed wrong buffer and added interface method for setting knull and dnull
Signed-off-by: Christoph Pohl <christoph.pohl@kit.edu>