code: public Geometry makeInnerFootprint(PoseSteering ps) {
  		return makeInnerFootprint(ps.getX(), ps.getY(), ps.getTheta());
  	}
docs: Returns a {@link Geometry} representing the inner footprint of the robot in a given {@link PoseSteering}.
  @param ps The pose and steering used to create the inner footprint.
  @return A {@link Geometry} representing the inner footprint of the robot in a given {@link PoseSteering}.