/**
* determines the desired swing foot location
*/
virtual public void setDesiredSwingFootLocation()
{
Vector3 step = computeSwingFootLocationEstimate(lowLCon.getComPosition(), lowLCon.getPhase());
//Debug.Log("aaaaaaaaaa "+step);
lowLCon.swingFootCoronalTrajectory.setKnotValue(0, step[lowLCon.getLocalLeftAxisID()]);
lowLCon.swingFootSagittalTrajectory.setKnotValue(0, step[lowLCon.getLocalFrontAxisID()]);
float dt = SimGlobals.dt;
step = computeSwingFootLocationEstimate(lowLCon.getComPosition() + lowLCon.getComVelocity() * dt, lowLCon.getPhase() + dt);
lowLCon.swingFootCoronalTrajectory.setKnotValue(1, step[lowLCon.getLocalLeftAxisID()]);
lowLCon.swingFootSagittalTrajectory.setKnotValue(1, step[lowLCon.getLocalFrontAxisID()]);
//to give some gradient information, here's what the position will be a short time later...
lowLCon.swingFootSagittalTrajectory.setKnotPosition(0, lowLCon.getPhase());
lowLCon.swingFootSagittalTrajectory.setKnotPosition(1, lowLCon.getPhase() + dt);
lowLCon.swingFootCoronalTrajectory.setKnotPosition(0, lowLCon.getPhase());
lowLCon.swingFootCoronalTrajectory.setKnotPosition(1, lowLCon.getPhase() + dt);
}