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() );
}