ArrayList<FramePoint2d> extremesOfFeasibleCOP = supportFootPolygon.getAllVisibleVerticesFromOutsideLeftToRightCopy(capturePoint); if (extremesOfFeasibleCOP == null)
ArrayList<FramePoint2d> extremesOfFeasibleCOP = supportFootPolygon.getAllVisibleVerticesFromOutsideLeftToRightCopy(capturePoint); if (extremesOfFeasibleCOP == null)