- i -

• InitVariableDependedQuantities() : towr::ForceConstraint , towr::SwingConstraint , towr::TotalDurationConstraint , towr::NodeCost , towr::TerrainConstraint
• IsConstantNode() : towr::NodesVariablesPhaseBased
• IsContactPhase() : towr::PhaseDurations
• IsInConstantPhase() : towr::NodesVariablesPhaseBased
• IsInContactAtStart() : towr::GaitGenerator
• IsOptimizeTimings() : towr::Parameters