rect_constraint.h

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#ifndef RECT_CONSTRAINT_H
#define RECT_CONSTRAINT_H

/****************************************
 * INCLUDES 
 ****************************************/

#include <Eigen/Geometry>



/****************************************
 * TYPEDEFS 
 ****************************************/

using namespace Eigen;



class RectangularConstraint_ZMP
{
    public:
        RectangularConstraint_ZMP(const double *);
        void rotate_translate(const double, const double, const double, const double);
        void Constraints2Vert();



        double D[4*2];

        double d[4];

        double d_orig[4];

        MatrixXd vert;
};

#endif /*RECT_CONSTRAINT_H*/