What does the phrase "to cover his feet" refer to in 1 Samuel 24:3?

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1 Samuel 24:3 KJV

3 And he came to the sheepcotes by the way, where was a cave; and Saul went in to cover his feet: and David and his men remained in the sides of the cave.

Its not clear what this phrase refers to since one translation seems to refer to it as relieving oneself.

1 Samuel 24:3 NASB

3 He came to the sheepfolds on the way, where there was a cave; and Saul went in to [a]relieve himself. Now David and his men were sitting in the inner recesses of the cave.

Does this phrase refer to relieving oneself or sleeping?