footstep.h

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#ifndef FOOTSTEP_H
#define FOOTSTEP_H

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

#include "rect_constraint.h"
#include "WMG.h"



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



class footstep : public RectangularConstraint_ZMP
{
    public:
        footstep (
                const double, 
                const Transform<double, 3>&,
                const Vector3d&,
                const unsigned int, 
                const fs_type, 
                const double *);
        footstep (const footstep&);
        ~footstep();

        void changePosture(const double *, const bool);
        double x();
        double y();



        double angle;

        double ca;

        double sa;

        unsigned int time_period;

        unsigned int time_left;

        fs_type type;

        Vector3d ZMPref;


        Transform<double, 3>* posture;
};
#endif /*FOOTSTEP_H*/