<commit_before>#ifndef _GAZEBO_SMORES_EDGE_HH_
#define _GAZEBO_SMORES_EDGE_HH_
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
// #include "SmoresNode.hh"

using namespace gazebo;

class  SmoresNode;
typedef boost::shared_ptr<SmoresNode> SmoresNodePtr;

class SmoresEdge
{
public:
	SmoresEdge(SmoresNodePtr model_first, SmoresNodePtr model_second, double length, double angle,int axis1, int axis2);

	~SmoresEdge();

	SmoresNodePtr FindMatchingNode(SmoresNodePtr node);

//++++++++++++++++ Here comes edge propoerties +++++++++++++++++++
public: double Distance; 	// Distance along the aligned axis
public: double Angle; 		// Angle in radian around the aligned axis, relative to model_1's X when aligned along Y and Z or Y when aligned along X
public: int Axis_1; 	// Axis of the model_1, 0 for x, 1 for y, 2 for z
public: int Axis_2; 	// Axis of the model_2, 0 for x, 1 for y, 2 for z
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//---------------- Here goes pointers ----------------------------
public: SmoresNodePtr model_1;	// A pointer to the first node on the first module
public: SmoresNodePtr model_2;	// A pointer to the second node on the second module
public: physics::JointPtr DynamicJointPtr;
//----------------------------------------------------------------
};
#endif<commit_msg>No longer use any functions from old boost library. But if anyone want to use on their own machine, please recompile the code<commit_after>#ifndef _GAZEBO_SMORES_EDGE_HH_
#define _GAZEBO_SMORES_EDGE_HH_
#include <boost/shared_ptr.hpp>
// #include <boost/make_shared.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
// #include "SmoresNode.hh"

using namespace gazebo;

class  SmoresNode;
typedef boost::shared_ptr<SmoresNode> SmoresNodePtr;

class SmoresEdge
{
public:
	SmoresEdge(SmoresNodePtr model_first, SmoresNodePtr model_second, double length, double angle,int axis1, int axis2);

	~SmoresEdge();

	SmoresNodePtr FindMatchingNode(SmoresNodePtr node);

//++++++++++++++++ Here comes edge propoerties +++++++++++++++++++
public: double Distance; 	// Distance along the aligned axis
public: double Angle; 		// Angle in radian around the aligned axis, relative to model_1's X when aligned along Y and Z or Y when aligned along X
public: int Axis_1; 	// Axis of the model_1, 0 for x, 1 for y, 2 for z
public: int Axis_2; 	// Axis of the model_2, 0 for x, 1 for y, 2 for z
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//---------------- Here goes pointers ----------------------------
public: SmoresNodePtr model_1;	// A pointer to the first node on the first module
public: SmoresNodePtr model_2;	// A pointer to the second node on the second module
public: physics::JointPtr DynamicJointPtr;
//----------------------------------------------------------------
};
#endif
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