How to use

getBody

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

  public static List<FramePoint> calculateExpectedContactPoints(Footstep atFootstep, ContactablePlaneBody foot)
  {
   if (!atFootstep.getBody().getName().equals(foot.getRigidBody().getName()))
     throw new RuntimeException("The RigidBodies are not the same.");
   
   List<FramePoint> ret = foot.getContactPointsCopy();
   
   ReferenceFrame soleFrame = atFootstep.getSoleReferenceFrame();
   
   for (int i = 0; i < ret.size(); i++)
   {
     FramePoint contactPoint = ret.get(i);
     contactPoint.checkReferenceFrameMatch(foot.getSoleFrame());
     contactPoint.setIncludingFrame(soleFrame, contactPoint.getPoint());
   }

   return ret;
  }
}

footstep.getPose(footstepPose);
String name = footstep.getBody().getName();
YoFramePose contactPose = contactPosesHashMap.get(name);
YoFrameConvexPolygon2d contactPolygon = contactPolygonsHashMap.get(name);