31 #ifndef _FOOT_CONSTRAINTS_AS_LINEAR_SYSTEM_H_
32 #define _FOOT_CONSTRAINTS_AS_LINEAR_SYSTEM_H_
42 #include <SimplePlugin.hh>
66 Eigen::MatrixXd &A, Eigen::MatrixXd &B,
73 std::deque<FootAbsolutePosition> &LeftFootAbsolutePositions,
74 std::deque<FootAbsolutePosition> &RightFootAbsolutePositions,
75 std::deque<LinearConstraintInequality_t *>
76 &QueueOfLConstraintInequalities,
77 double ConstraintOnX,
double ConstraintOnY);
82 std::deque<FootAbsolutePosition> &LeftFootAbsolutePositions,
83 std::deque<FootAbsolutePosition> &RightFootAbsolutePositions,
84 std::deque<LinearConstraintInequality_t *>
85 &QueueOfLConstraintInequalities,
86 double ConstraintOnX,
double ConstraintOnY);
90 std::vector<int> &SimilarConstraints);
96 virtual void CallMethod(std::string &Method, std::istringstream &Args);