changed the JointTargetBase to a general TargetBase;
added wheel speed reporting to the PlatformDataUnit

add some other access utiliti functions
order the members of RobotUnit
add the LVL1ControllerDataProviderInterface (this is used by LVL1Controllers to get their data)

added more metainfo to lvl1 (for the robot unit)
added helperfunctions to the robot unit + updated the recommended implementation

all functions called in rt now have the rt prefix

added registration to lvl1 controllers

added lvl1 controller interface (+ template for buffer swapping)
added lvl0 controller interfaces
added controlmodes namespace + default control modes
all data units now are splitted into an interface (this has to be implemented) and a ptrprovider (this is a conveniene class. it stores pointer and implements the interface. if all data is already somewhere in ram, you can set the pointers of this class and have a working data unit)