public FootstepAdjusterVisualizer(FootstepAdjustor footstepAdjustor, YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry)
{
this.footstepAdjustor = footstepAdjustor;
String nextFootstepCaption = "DesiredTouchdown";
yoNextFootstepPolygon = new YoFrameConvexPolygon2d(nextFootstepCaption, "", worldFrame, 8, registry);
nextFootstepPolygon = new FrameConvexPolygon2d(worldFrame);
nextFootstepPolygonArtifact = new YoArtifactPolygon(nextFootstepCaption, yoNextFootstepPolygon, colorDefault, false);
nextFootstepPolygonArtifact.setVisible(false);
yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), nextFootstepPolygonArtifact);
parentRegistry.addChild(registry);
}