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
Removed tauIn and qCurrentIn in ThermoLimiter, which is not used for tauMax calculation now.
Replace DEBUGP to isDebug function in ThermoEstimator
Added emergency beep (notification of current load > max load) to ThermoLimiter
Added alarmRatio to config property, which defines current/max ratio threshold in temperature alarm
Separated estimateJointTemperature process to member function
Added error2torque conversion to ThermoEstimator and make servoState pass when calculated temperature is invalid.
Debugged read port miss in inports and modified debug message position
Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
Connect q and qRef to ThermoEstimator to estimate joint torque from error
Merge pull request #229 from orikuma/load-limiter

Added emergency nortification for temperature and torque to ThermoLimiter