text: /* ----------------------------------------------------------------------------
   * GTDynamics Copyright 2020, Georgia Tech Research Corporation,
   * Atlanta, Georgia 30332-0415
   * All Rights Reserved
   * See LICENSE for the license information
   * -------------------------------------------------------------------------- */
  
  /**
   * @file  ConstraintSpec.h
   * @brief Base class for constraint specification
   * @author: Dan Barladeanu, Frank Dellaert
   */
  
  #pragma once
  
  namespace gtdynamics {
  
  /**
   * @class ConstraintSpec is a base class for constraint specification on phases.
   * Derived Constraints could be walking, jumping, rocketry etc..
   * Derived Class currently implemented: FootContactConstraintSpec - specific for walking.
   */
  
  class ConstraintSpec {
    public:
      /// GTSAM-style print, pure virtual here
      virtual void print(const std::string &s) const = 0;
      
      // destructor
      virtual ~ConstraintSpec() = default;
  };
  
  
  
  }  // namespace gtdynamics