How to use

setZ

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

private void generateFootsteps()
{
 footsteps.clear();
 
 TurnInPlaceFootstepGenerator footstepGenerator = new TurnInPlaceFootstepGenerator(feet, soleFrames, targetOrientationInWorldFrame, pathType);
 footstepGenerator.initialize();
 
 footsteps.addAll(footstepGenerator.generateDesiredFootstepList());
 FramePoint midFeetPoint = new FramePoint();
 midFeetPoint.setToZero(referenceFrames.getMidFeetZUpFrame());
 midFeetPoint.changeFrame(worldFrame);
 
 for(Footstep footstep : footsteps)
 {
   footstep.setZ(midFeetPoint.getZ());
 }
 
 footstepListBehavior.set(footsteps, swingTime, transferTime);
 haveFootstepsBeenGenerated.set(true);
 
}

private void generateFootsteps()
{
 footsteps.clear();
 TurnInPlaceFootstepGenerator footstepGenerator = new TurnInPlaceFootstepGenerator(feet, soleFrames, targetOrientationInWorldFrame, pathType);
 footstepGenerator.initialize();
 footsteps.addAll(footstepGenerator.generateDesiredFootstepList());
 FramePoint3D midFeetPoint = new FramePoint3D();
 midFeetPoint.setToZero(referenceFrames.getMidFeetZUpFrame());
 midFeetPoint.changeFrame(worldFrame);
 for (Footstep footstep : footsteps)
 {
   footstep.setZ(midFeetPoint.getZ());
 }
 footstepListBehavior.set(footsteps, swingTime, transferTime);
 haveFootstepsBeenGenerated.set(true);
}

public void requestSwing(RobotSide upcomingSwingSide, Footstep footstep, double swingTime)
{
 if (!footstep.getTrustHeight())
 {
   FramePoint supportAnklePosition = new FramePoint(ankleZUpFrames.get(upcomingSwingSide.getOppositeSide()));
   supportAnklePosition.changeFrame(footstep.getParentFrame());
   double newHeight = supportAnklePosition.getZ();
   footstep.setZ(newHeight);
 }
 FootControlModule footControlModule = footControlModules.get(upcomingSwingSide);
 footControlModule.setFootstep(footstep, swingTime);
 setContactStateForSwing(upcomingSwingSide);
}

for (Footstep footstep : footsteps)
 footstep.setZ(footlocation.getZ());

 transferToFootstep.setZ(transferToFootstep.getZ() + RandomNumbers.nextDouble(random, 0.0, maxZChange));
previousFootstep = transferToFootstep;