remove submodule reference to constraints manager

constraints_manager/constraints_manager_example/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(constraints_manager_example LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+FIND_PACKAGE(Eigen3 REQUIRED)
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
+ADD_COMPILE_OPTIONS(-Werror=return-type -Wall -Wextra -Wmissing-declarations -Wredundant-decls -Woverloaded-virtual)
+
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/../include
+
+    )
+
+
+add_library(ConstraintsManager ${CMAKE_CURRENT_SOURCE_DIR}/../src/constraints_manager.cpp)
+add_executable(constraints_manager_example main.cpp)
+target_link_libraries(constraints_manager_example
+                      ConstraintsManager)
+

constraints_manager/constraints_manager_example/main.cpp

@@ -0,0 +1,26 @@
+#include <iostream>
+#include "constraints_manager.h"
+
+using namespace Eigen;
+
+int main()
+{
+    auto manager = ConstraintsManager(3);
+    auto A1 = MatrixXd::Zero(3,3);
+    auto b1 = VectorXd::Zero(3);
+    auto A2 = MatrixXd::Ones(1,3);
+    auto b2 = VectorXd::Ones(1);
+
+    manager.add_inequality_constraint(A1, b1);
+    manager.add_inequality_constraint(A2, b2);
+
+    MatrixXd A;
+    VectorXd b;
+
+    std::tie(A,b) = manager.get_inequality_constraints();
+    std::cout<<"A: "<<std::endl;
+    std::cout<<A<<std::endl;
+    std::cout<<"b: "<<std::endl;
+    std::cout<<b<<std::endl;
+
+}