code: public void setFootprint(double w, double l, double dw, double dl) {
  		this.initFootprint(w, l, dw, dl);
  	}
docs: Set the footprint of this {@link TrajectoryEnvelope}, which is used for computing the spatial envelope.
  @param w The width of the robot's footprint (dimension along the perpendicular to the driving direction).
  @param l The length of the robot's footprint (dimension along the driving direction).
  @param dw Lateral displacement of the reference point of the robot (along the perpendicular to the driving direction).
  @param dl Forward displacement of the reference point of the robot (along the driving direction).