How to use

addLowerBoundaryPointsToHullPointList

method

in

us.ihmc.humanoidRobotics.footstep.footstepSnapper.ConvexHullFootstepSnapper

private void addLowerBoundaryPointsToHullPointList(List<Point3d> convexHullPointsList, FramePose2d positioning)
{
 addLowerBoundaryPointsToHullPointList(convexHullPointsList, positioning.getX(), positioning.getY(), positioning.getYaw());
}

private void addLowerBoundaryPointsToHullPointList(List<Point3D> convexHullPointsList, FramePose2D positioning)
{
 addLowerBoundaryPointsToHullPointList(convexHullPointsList, positioning.getX(), positioning.getY(), positioning.getYaw());
}

Quat4d orientation = footstep.getOrientation();
double yaw = RotationTools.computeYaw(orientation);
addLowerBoundaryPointsToHullPointList(convexHullPointsList, position.getX(), position.getY(), yaw);

Quaternion orientation = footstep.getOrientation();
double yaw = orientation.getYaw();
addLowerBoundaryPointsToHullPointList(convexHullPointsList, position.getX(), position.getY(), yaw);