/** * 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(); }