/**
* this method gets called at every simulation time step
*/
virtual public void simStepPlan(float dt)
{
lowLCon.updateSwingAndStanceReferences();
//compute desired swing foot location...
if (lowLCon.getIsComputeIPStep())
{
setDesiredSwingFootLocation();
}
//adjust for panic mode or unplanned terrain...
adjustStepHeight();
//adjustGait ();
//and see if we're really in trouble...
//if (shouldAbort()) onAbort();
}