Merge remote-tracking branch 'origin/armar6demo' into Ice3.7

source/RobotAPI/components/units/KinematicUnitObserver.cpp

source/RobotAPI/components/units/KinematicUnitObserver.h

...ts/units/RobotUnit/NJointControllers/NJointController.cpp

...ents/units/RobotUnit/NJointControllers/NJointController.h

...llers/NJointHolonomicPlatformRelativePositionController.h

...intHolonomicPlatformUnitVelocityPassThroughController.cpp

...JointHolonomicPlatformUnitVelocityPassThroughController.h

...intControllers/NJointKinematicUnitPassThroughController.h

...obotUnit/NJointControllers/NJointTrajectoryController.cpp

.../RobotUnit/NJointControllers/NJointTrajectoryController.h

...API/components/units/RobotUnit/Units/KinematicSubUnit.cpp

...otAPI/components/units/RobotUnit/Units/KinematicSubUnit.h

...I/components/units/RobotUnit/test/BasicControllerTest.cpp

.../RobotAPI/components/units/RobotUnit/test/eval_script.inc

source/RobotAPI/components/units/SpeechObserver.cpp

source/RobotAPI/components/units/SpeechObserver.h

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

...nterface/units/RobotUnit/NJointTaskSpaceDMPController.ice

...botAPI/libraries/DMPController/TaskSpaceDMPController.cpp

...RobotAPI/libraries/DMPController/TaskSpaceDMPController.h