captureRegionMath.getPointBetweenVectorsAtDistanceFromOriginCircular(firstKinematicExtremeDirection, lastKinematicExtremeDirection, alphaFromAToB, APPROXIMATION_MULTILIER * kinematicStepRange, footCentroid, additionalKinematicPoint); rawCaptureRegion.addVertexAndChangeFrame(additionalKinematicPoint);