static void resize( typename Type< T >::VectorType& vector, C& constructor, size_t newSize )
    {
        vector.resize( newSize );

        for( size_t i=0; i<vector.size(); i++ )
            vector[ i ] = constructor.create();
    }
void createStandardConvexSet(typename Type<Scalar>::vectorOfVector2& p)
{
  using namespace MPCWalkgen;
  typedef typename Type<Scalar>::Vector2 Vector2;
  p.resize(5);

  p[0] = Vector2(1.0, 0.0);
  p[1] = Vector2(-1.0, -1.0);
  p[2] = Vector2(1.0, -1.0);
  p[3] = Vector2(1.0, 1.0);
  p[4] = Vector2(-1.0, 1.0);
}
 static void resize( typename Type< T >::VectorType& vector, C& constructor, size_t newSize )
 {
     vector.resize( newSize, constructor.create() );
 }