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

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#ifndef _SINGLE_SUPPORT_H_
#define _SINGLE_SUPPORT_H_

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

class SingleSupport : public Constraint {
private:
    Eigen::Vector2d _S;
public:
    SingleSupport();
    virtual ~SingleSupport();
protected:
    virtual void buildMatrixCi();
    virtual void buildMatrixCii();
    virtual void buildVectord();
};

#endif