torque estimation and init torque controller for imagine gripper

.../RobotAPI/components/units/RobotUnit/BasicControllers.cpp

source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt

...erBasisBoard/JointController/JointPWMTorqueController.cpp

...pperBasisBoard/JointController/JointPWMTorqueController.h

...BasisBoard/JointController/JointPWMVelocityController.cpp

...perEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp

...ipperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.h

...therCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp

...rEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h

...EtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.h

...erEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.cpp

...pperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.h

...erCAT/KITGripperBasisBoard/Misc/TorqueEstimationWeights.h