Added Integrator which can calculate integration with trapezoidal rule and set integration range
Added infinit range option for Integrator (range = 0)
Fixed coment miss
Modified filename in header comment
Added Integrator for TwoDofController in TorqueController
Forgotten commit, added init_beep to ThermoLimiter
Separate isTempError check from limitTemperature and rename calcMaxTorqueFromTemperature, added calcEmergencyRatio which calculate current/max ratio and execute limit check, added callBeep which call beep and tune frequency by maxEmergencyRatio
Added current/max value to debug message
Added input buffer size check before calcEmergencyRate
Added isDebug method which is alternative of DEBUGP
Debugged initialization problem in motorTemperatureLimit and Modified beep function to beep stepwisely
Modified comment in Integrator
Added Convolution for new TwoDofController with damper
Added new TwoDofController which consider damper in motor model
Made member functions virtual in TwoDofContorller for inheritance and polymorphism
Constructor should not call virtual functions
Made interface class TwoDofControllerInterface
Added TwoDofControllerWithDamper to MotorTorqueController using polymophism
Modified testMotorTorqueController for TwoDofControllerWithDamper and change joint angle control model along with control model
Added Convolution.cpp and TwoDofControllerWithDamper.cpp to CMakeLists.txt