ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/constraints/ContactConfigEnforcement.h

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#ifndef _CONTACTCONFIGENFORCEMENT_H_
#define _CONTACTCONFIGENFORCEMENT_H_

#include "walking-client/constraints/Constraint.h"

class ContactConfigEnforcement : public Constraint {
private:

public:
    ContactConfigEnforcement ();
    virtual ~ContactConfigEnforcement ();
protected:
    virtual void buildMatrixCi();
    virtual void buildMatrixCii();
    virtual void buildVectord();
};

#endif