FramePoint2d candidate = closestPoint(capturePoint, intersection1, intersection2);
finalICPToICPVector.setToZero(projectionArea.getReferenceFrame());
finalICPToICPVector.sub(capturePoint, finalCapturePoint);
icpToCandidateVector.setToZero(projectionArea.getReferenceFrame());
icpToCandidateVector.sub(candidate, capturePoint);
<BUG>double angle = finalICPToICPVector.angle(icpToCandidateVector);
</BUG>
if (angle < 1.0e-7)
{
projectedCMP.setIncludingFrame(candidate);

FramePoint2d candidate = closestPoint(capturePoint, intersection1, intersection2);
finalICPToICPVector.setToZero(projectionArea.getReferenceFrame());
finalICPToICPVector.sub(capturePoint, finalCapturePoint);
icpToCandidateVector.setToZero(projectionArea.getReferenceFrame());
icpToCandidateVector.sub(candidate, capturePoint);
double angle = Math.abs(finalICPToICPVector.angle(icpToCandidateVector));
if (angle < 1.0e-7)
{
projectedCMP.setIncludingFrame(candidate);
