Revert "Add member for the current support state and accessors"

This reverts commit 3e5325dd.

src/Mathematics/intermediate-qp-matrices.hh

@@ -102,9 +102,6 @@ namespace PatternGeneratorJRL
       boost_ublas::matrix<double> V_f;
       /// \}
 
-      /// \brief Current support state
-      support_state_t SupportState;
-
       /// \brief Current support foot position
       supportfoot_t SupportFoot;
 
@@ -177,22 +174,13 @@ namespace PatternGeneratorJRL
     inline void Reference( const reference_t & Ref )
     { m_StateMatrices.Ref = Ref; };
 
-    /// \brief Accessors to the support foot position
+    /// \brief Accessors to the Center of Mass
     inline supportfoot_t const & SupportFoot() const
     { return m_StateMatrices.SupportFoot; };
     inline void SupportFoot( const supportfoot_t & SupportFoot )
     { m_StateMatrices.SupportFoot = SupportFoot; };
     /// \}
 
-    /// \brief Accessors to the current support state
-    inline support_state_t const & SupportState() const
-    { return m_StateMatrices.SupportState; };
-    inline support_state_t & SupportState()
-    { return m_StateMatrices.SupportState; };
-    inline void SupportState( const support_state_t & SupportState )
-    { m_StateMatrices.SupportState = SupportState; };
-    /// \}
-
     /// \name Displaying
     /// \{
     /// \brief Dump objective matrices
@@ -208,23 +196,23 @@ namespace PatternGeneratorJRL
   private:
 
     objective_variant_t
-      m_MeanVelocity,
+    m_MeanVelocity,
       m_InstantVelocity,
       m_COPCentering,
       m_JerkMin;
 
     state_variant_t
-      m_StateMatrices;
+    m_StateMatrices;
 
     dynamics_t
-      m_Position,
+    m_Position,
       m_Velocity,
       m_Acceleration,
       m_Jerk,
       m_CoP;
 
     linear_inequality_t
-      m_IneqCoP,
+    m_IneqCoP,
       m_IneqCoM,
       m_IneqFeet;