Tactile

[jvarley]

This is not ready to be pulled in. I thought I would put this here so others can see it/contribute. I did not write most of it.

[jvarley]

I moved the sensors to the robot from the world. It was easier than I thought it would be.

[jvarley]

Also changed output of sensor readings to return a vec of the sensor readings rather than a qtextstream which had to be reparsed later on.

[mateiciocarlie]

Thanks for all the improvements! I'll take a look as soon as I have a bit of time, maybe tomorrow.

[mateiciocarlie]

This is now much much easier to parse, but that does highlight some issues...

The additions in here do not adhere to the style conventions. Member variables are not marked (lowercase m before the name in the rest of the codebase). There is no doxygen-style documentation - in the rest of the codebase (as much as we could) all variables and functions are documented, and classes have fairly extensive design explanations in the documentation. The new classes here have none of that. That makes it very hard to understand various issues, including why we need a new type of Link, what are the new variables added to the Contact class, what are the changes made to the soft contact fitting, etc. Changes to the Link hierarchy or the Contact class are fundamental enough that they should be well documented, and we should be sure of the necessity.

This is change goes deep enough that I would really like the style and documentation to be there, which will also make it a lot easier to understand what is going on.