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

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#ifndef _CONTACTCONFIGHISTORY_H_
#define _CONTACTCONFIGHISTORY_H_

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

class ContactConfigHistory : public Constraint {
private:
public:
    ContactConfigHistory ();
    virtual ~ContactConfigHistory ();
protected:
    virtual void buildMatrixCi();
    virtual void buildMatrixCii();
    virtual void buildVectord();
};

#endif