Java WalkToGoalBehavior.isDone Examples

Example #1

File: DRCWalkToGoalBehaviorTest.java Project: ihmcrobotics/ihmc-open-robotics-software

  @ContinuousIntegrationTest(
      estimatedDuration = 50.0,
      categoriesOverride = IntegrationCategory.EXCLUDE)
  @Test(timeout = 300000)
  public void testWalkForwardsX() throws SimulationExceededMaximumTimeException {
    BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
    boolean success = drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0);
    assertTrue(success);

    double walkDistance = RandomTools.generateRandomDouble(new Random(), 1.0, 2.0);
    Vector2d walkDirection = new Vector2d(1, 0);
    double trajectoryTime = walkDistance / ASSUMED_WALKING_SPEED_mPerSec;

    WalkToGoalBehavior walkToGoalBehavior =
        testWalkToGoalBehavior(walkDistance, walkDirection, trajectoryTime);

    assertTrue(walkToGoalBehavior.isDone());

    BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
  }