How to use

adjustFootstepWithoutHeightmap

method

in

us.ihmc.humanoidRobotics.footstep.footstepSnapper.ConvexHullFootstepSnapper

@Override
public void adjustFootstepWithoutHeightmap(FootstepDataMessage footstep, double height, Vector3D planeNormal)
{
 convexHullFootstepSnapper.adjustFootstepWithoutHeightmap(footstep, height, planeNormal);
}

@Override
public void adjustFootstepWithoutHeightmap(Footstep footstep, double height, Vector3D planeNormal)
{
 convexHullFootstepSnapper.adjustFootstepWithoutHeightmap(footstep, height, planeNormal);
}

@Override
public void adjustFootstepWithoutHeightmap(FootstepDataMessage footstep, double height, Vector3d planeNormal)
{
 convexHullFootstepSnapper.adjustFootstepWithoutHeightmap(footstep, height, planeNormal);
}

@Override
public void adjustFootstepWithoutHeightmap(Footstep footstep, double height, Vector3d planeNormal)
{
 convexHullFootstepSnapper.adjustFootstepWithoutHeightmap(footstep, height, planeNormal);
}

  adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
  return Footstep.FootstepType.BAD_FOOTSTEP;
  adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
  footstep.predictedContactPoints = null;
  return Footstep.FootstepType.FULL_FOOTSTEP;
  height = 0.0;
adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
return Footstep.FootstepType.BAD_FOOTSTEP;

  adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
  return Footstep.FootstepType.BAD_FOOTSTEP;
  adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
  footstep.getPredictedContactPoints2d().clear();
  return Footstep.FootstepType.FULL_FOOTSTEP;
  height = 0.0;
adjustFootstepWithoutHeightmap(footstep, height, surfaceNormal);
return Footstep.FootstepType.BAD_FOOTSTEP;