Minor corrections.

cmake @ 3f2af61f

-Subproject commit 1a5461058c3f9acb3221b642ef1a9e59b9f3d6de
+Subproject commit 3f2af61ff8181b1dec4d710e2a2e28c8f0fb6b7f

src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp

@@ -97,6 +97,17 @@ FootConstraintsAsLinearSystemForVelRef(SimplePluginManager *aSPM,
       aof.close();
     }
 
+  // Register method to handle
+    string aMethodName[] =
+      {":setfeetconstraint"};
+
+    for(int i=0;i<1;i++)
+      {
+        if (!RegisterMethod(aMethodName[i]))
+      {
+        std::cerr << "Unable to register " << aMethodName << std::endl;
+      }
+      }
 }
 
 FootConstraintsAsLinearSystemForVelRef::
@@ -480,17 +491,18 @@ void FootConstraintsAsLinearSystemForVelRef::CallMethod(std::string &Method, std
     {
       string lCmd;
       Args >> lCmd;
+
       if (lCmd=="XY")
+
 	{
+
 	  Args >> m_ConstraintOnX;
 	  Args >> m_ConstraintOnY;
 
 	  m_RightFootSize.setConstraints(m_ConstraintOnX, m_ConstraintOnY);
 	  m_LeftFootSize.setConstraints(m_ConstraintOnX, m_ConstraintOnY);
-	  cout << "Constraint On X: " << m_ConstraintOnX
-	       << " Constraint On Y: " << m_ConstraintOnY << endl;
+
 	}
 
     }
-  
 }

src/Mathematics/FootHalfSize.cpp

@@ -26,6 +26,8 @@
 #include <Mathematics/FootHalfSize.hh>
 
 using namespace PatternGeneratorJRL;
+#include <iostream>
+using namespace std;
 
 FootHalfSize::FootHalfSize()
 {
@@ -63,7 +65,6 @@ void FootHalfSize::updateHalfSize()
 
   m_HalfWidth -= m_ConstraintsOnX;
   m_HalfHeight -= m_ConstraintsOnY;
-  
 }
 
 void FootHalfSize::updateHalfHeightDS()
@@ -76,7 +77,7 @@ void FootHalfSize::updateHalfHeightDS()
 void FootHalfSize::setConstraints(double OnX, double OnY)
 {
   m_ConstraintsOnX = OnX;
-  m_ConstraintsOnX = OnY;
+  m_ConstraintsOnY = OnY;
 
   updateHalfSize();
   updateHalfHeightDS();