How to use

generateFootstepWithoutHeightMap

method

in

us.ihmc.humanoidRobotics.footstep.footstepSnapper.ConvexHullFootstepSnapper

@Override
public Footstep generateFootstepWithoutHeightMap(FramePose2D desiredSolePosition, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide,
    double height, Vector3D planeNormal)
{
 return convexHullFootstepSnapper.generateFootstepWithoutHeightMap(desiredSolePosition, foot, soleFrame, robotSide, height, planeNormal);
}

@Override
public Footstep generateFootstepWithoutHeightMap(FramePose2d desiredSolePosition, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide,
    double height, Vector3d planeNormal)
{
 return convexHullFootstepSnapper.generateFootstepWithoutHeightMap(desiredSolePosition, foot, soleFrame, robotSide, height, planeNormal);
}

public Footstep generateFootstepUsingHeightMap(FramePose2d footPose2d, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide,
   List<Point3d> pointList, double defaultHeight)
{
 Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3d(0.0, 0.0, 1.0));
 snapFootstep(toReturn, pointList, defaultHeight);
 return toReturn;
}

@Override
public Footstep generateFootstepUsingHeightMap(FramePose2d footPose2d, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide,
   HeightMapWithPoints heightMap) throws InsufficientDataException
{
 Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3d(0.0, 0.0, 1.0));
 snapFootstep(toReturn, heightMap);
 return toReturn;
}

@Override
public Footstep generateFootstepUsingHeightMap(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide,
   HeightMapWithPoints heightMap) throws InsufficientDataException
{
 Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3D(0.0, 0.0, 1.0));
 snapFootstep(toReturn, heightMap);
 return toReturn;
}

public Footstep generateFootstepUsingHeightMap(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide,
   List<Point3D> pointList, double defaultHeight)
{
 Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3D(0.0, 0.0, 1.0));
 snapFootstep(toReturn, pointList, defaultHeight);
 return toReturn;
}