How to use

getSwingHeight

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

swingHeight = footstep.getSwingHeight();

trajectoryParametersProvider.set(new TrajectoryParameters(TrajectoryType.OBSTACLE_CLEARANCE, footstep.getSwingHeight()));
trajectoryParametersProvider.set(new TrajectoryParameters(trajectoryType, footstep.getSwingHeight()));

public static FootstepDataMessage createFootstepDataMessage(Footstep footstep)
{
 FootstepDataMessage message = new FootstepDataMessage();
 message.setRobotSide(footstep.getRobotSide().toByte());
 FramePoint3D location = new FramePoint3D();
 FrameQuaternion orientation = new FrameQuaternion();
 footstep.getPose(location, orientation);
 footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 message.getLocation().set(location);
 message.getOrientation().set(orientation);
 packPredictedContactPoints(footstep.getPredictedContactPoints(), message);
 message.setTrajectoryType(footstep.getTrajectoryType().toByte());
 message.setSwingHeight(footstep.getSwingHeight());
 message.setSwingTrajectoryBlendDuration(footstep.getSwingTrajectoryBlendDuration());
 if (footstep.getCustomPositionWaypoints().size() != 0)
 {
   for (int i = 0; i < footstep.getCustomPositionWaypoints().size(); i++)
   {
    FramePoint3D framePoint = footstep.getCustomPositionWaypoints().get(i);
    framePoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
    message.getCustomPositionWaypoints().add().set(framePoint);
   }
 }
 return message;
}