Merge pull request #89 from jmirabel/devel

Fix C++98 compatibility.

src/problem-solver.cc

@@ -270,27 +270,27 @@ namespace hpp {
         (Constraint_t::createConstraintAndComplement
          (name, robot_, floorSurfaces, objectSurfaces, margin));
 
-      addNumericalConstraint(std::get<0>(constraints)->function().name(),
-                             std::get<0>(constraints));
-      addNumericalConstraint(std::get<1>(constraints)->function().name(),
-                             std::get<1>(constraints));
-      addNumericalConstraint(std::get<2>(constraints)->function().name(),
-                             std::get<2>(constraints));
+      addNumericalConstraint(boost::get<0>(constraints)->function().name(),
+                             boost::get<0>(constraints));
+      addNumericalConstraint(boost::get<1>(constraints)->function().name(),
+                             boost::get<1>(constraints));
+      addNumericalConstraint(boost::get<2>(constraints)->function().name(),
+                             boost::get<2>(constraints));
       // Set security margin to contact constraint
       assert(HPP_DYNAMIC_PTR_CAST(constraints::ConvexShapeContact,
-                                  std::get<0>(constraints)->functionPtr()));
+                                  boost::get<0>(constraints)->functionPtr()));
       constraints::ConvexShapeContactPtr_t contactFunction
         (HPP_STATIC_PTR_CAST(constraints::ConvexShapeContact,
-                             std::get<0>(constraints)->functionPtr()));
+                             boost::get<0>(constraints)->functionPtr()));
       contactFunction->setNormalMargin(margin);
       constraintsAndComplements.push_back (
-          ConstraintAndComplement_t (std::get<0>(constraints),
-                                     std::get<1>(constraints),
-                                     std::get<2>(constraints)));
+          ConstraintAndComplement_t (boost::get<0>(constraints),
+                                     boost::get<1>(constraints),
+                                     boost::get<2>(constraints)));
       if (constraintGraph ())
-        constraintGraph ()->registerConstraints(std::get<0>(constraints),
-                                                std::get<1>(constraints),
-                                                std::get<2>(constraints));
+        constraintGraph ()->registerConstraints(boost::get<0>(constraints),
+                                                boost::get<1>(constraints),
+                                                boost::get<2>(constraints));
     }
 
     void ProblemSolver::createPrePlacementConstraint