/** is the foot in question within the switchZThreshold of the lowest foot */
@Override
public boolean hasFootHitGround() {
double thisFootZ = getPointInWorld(foot.getSoleFrame()).getZ();
double lowestFootZ = getLowestFootZInWorld();
hitGround.set((thisFootZ - lowestFootZ) < switchZThreshold.getDoubleValue());
soleZ.set(thisFootZ);
ankleZ.set(getPointInWorld(foot.getFrameAfterParentJoint()).getZ());
return hitGround.getBooleanValue();
}
