Revert "Add type for linear constraint"

This reverts commit 4d440440.

src/privatepgtypes.h

@@ -30,7 +30,6 @@
 #define  _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
 
 #include <jrl/mal/matrixabstractlayer.hh>
-#include <boost/numeric/ublas/matrix_sparse.hpp>
 
 namespace PatternGeneratorJRL
 {
@@ -115,7 +114,7 @@ namespace PatternGeneratorJRL
 
   struct solution_s
   {
-    /// \brief Whole solution array
+    /// \brief whole solution array
     double * array;
 
     struct vector_s
@@ -130,13 +129,10 @@ namespace PatternGeneratorJRL
 
     vector_t jerk, footpos;
 
-    /// \brief Lagrange multipliers
-    MAL_VECTOR(lambda,double);
-
   };
   typedef struct solution_s solution_t;
 
-  /// \brief Linear inequality with free foot placement.
+  /// \brief Linear constraints with free foot placement.
   struct linear_inequality_ff_s
   {
     MAL_MATRIX(D,double);
@@ -146,15 +142,6 @@ namespace PatternGeneratorJRL
   typedef struct linear_inequality_ff_s
     linear_inequality_ff_t;
 
-  /// \brief Linear constraints
-  struct linear_constraint_s
-  {
-    ublas::compressed_vector<double> A;
-    double b;
-  };
-  typedef struct linear_constraint_s
-  linear_constraint_t;
-
 }
 
 #endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */