SmoresEdge.hh

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Author: Edward Yunkai Cui
// Description: This class is built for configuration representation.
//              And edge connects two nodes in different modules, and also
//              it will store a pointer to the dynamically generated
//              joint.
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef _GAZEBO_SMORES_EDGE_HH_
#define _GAZEBO_SMORES_EDGE_HH_
#include <boost/shared_ptr.hpp>

#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
// #include "SmoresNode.hh"

namespace gazebo{
// Forward declaration
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);
  double Distance;
  double Angle;
  int Axis_1;
  int Axis_2;

  SmoresNodePtr model_1;
  SmoresNodePtr model_2;
  physics::JointPtr DynamicJointPtr;
}; // class SmoresEdge
}
#endif