text: 
  #include "SteppingLastRight.h"
  
  void SteppingLastRight::entry(void) {
      std::cout
          << "==================" << endl
          << " Stepping Last RIGHT" << endl
          << "==================" << endl;
      trajectoryGenerator->initialiseTrajectory(RobotMode::FTTG, Foot::Left, robot->getJointStates());
      robot->startNewTraj();
      robot->setCurrentState(AlexState::StepLastR);
  }
  void SteppingLastRight::during(void) {
      robot->moveThroughTraj();
  }
  void SteppingLastRight::exit(void) {
      DEBUG_OUT("EXITING STEPPING LAST RIGHT")
  }
  