georgmartius/lpzrobots — pull request #4 by timonachstedt (2012-04-16 15:01:00+00:00)
Title: Fix contact sensor bug

Hi,
there are some problems with the amosII contact sensors when not using all legs. In detail, assert(reference) fails in the init method of the ContactSensor class. Therefore, I changed the code so that contact sensors are only used when the given leg and the corresponding foot element are activated. I also moved the creation of the contact sensors into the create method as we will get segmentation faults when recreating the robot otherwise. Finally, I added a flag to the amos II config class to determine whether binary of force sensors should be used.
Best regards!
Timo