add joint position njoint controller and fix dmp serialization

...terface/units/RobotUnit/NJointJointSpaceDMPController.ice

...botAPI/libraries/RobotAPINJointControllers/CMakeLists.txt

...NJointControllers/DMPController/NJointJSDMPController.cpp

...PINJointControllers/DMPController/NJointJSDMPController.h

...ntrollers/DMPController/NJointJSPositionDMPController.cpp

...Controllers/DMPController/NJointJSPositionDMPController.h