copExtreme.changeFrame(supportAnkleZUp); CaptureRegionMathTools.predictCapturePoint(capturePoint, copExtreme, swingTimeRemaining, omega0, predictedICP); rawCaptureRegion.addVertexChangeFrameAndProjectToXYPlane(predictedICP); return; rawCaptureRegion.addVertexChangeFrameAndProjectToXYPlane(kinematicExtreme);