public void testWalkingForwardFast()
throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException {
QuadrupedTestBehaviors.standUp(conductor, variables);
variables.getYoPlanarVelocityInputX().set(0.15);
conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addSustainGoal(
YoVariableTestGoal.doubleLessThan(
variables.getYoTime(), variables.getYoTime().getDoubleValue() + 25.0));
conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 1.5));
conductor.simulate();
conductor.concludeTesting();
}
public void testWalkingInABackwardRightCircle()
throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException {
QuadrupedTestBehaviors.standUp(conductor, variables);
variables.getYoPlanarVelocityInputX().set(-0.1);
variables.getYoPlanarVelocityInputZ().set(-0.06);
conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addTerminalGoal(
YoVariableTestGoal.doubleGreaterThan(
variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
conductor.simulate();
conductor.concludeTesting();
}