How to use

scale

method

in

us.ihmc.robotics.geometry.FrameConvexPolygon2d

/**
* Scale this convex polygon about pointToScaleAbout.
* @param pointToScaleAbout
* @param scaleFactor
*/
public void scale(FramePoint2d pointToScaleAbout, double scaleFactor)
{
 checkReferenceFrameMatch(pointToScaleAbout);
 scale(pointToScaleAbout.getPoint(), scaleFactor);
}

/**
* This function takes a footstep and calculates the touch-down polygon in the
* desired reference frame
*/
private void calculateTouchdownFootPolygon(Footstep footstep, ReferenceFrame desiredFrame, FrameConvexPolygon2d polygonToPack)
{
 footstep.getPositionIncludingFrame(centroid3d);
 centroid3d.getFramePoint2d(centroid2d);
 centroid2d.changeFrame(desiredFrame);
 polygonToPack.setIncludingFrameAndUpdate(footstep.getSoleReferenceFrame(), defaultSupportPolygons.get(footstep.getRobotSide()));
 polygonToPack.changeFrameAndProjectToXYPlane(desiredFrame);
 // shrink the polygon for safety by pulling all the corner points towards the center
 polygonToPack.scale(centroid2d, SHRINK_TOUCHDOWN_POLYGON_FACTOR);
}