footsteps = testTurnStraightFootstepGenerator(testMessage, startX, startY, startYaw, null, pathDirection, endXDirection, endY, vis);
assertStepSide(testDescription, footsteps.get(0), expectedSide);
String message = "don't step too far, step: " + footsteps.get(0).getX() + ", allowed region: +/- " + stepWidth / 2;
assertTrue(message, (footsteps.get(0).getX() <= stepWidth / 2) && (footsteps.get(0).getX() >= -stepWidth / 2));
footsteps = testTurnStraightTurnFootstepGenerator(testMessage, startX, startY, startYaw, null, pathDirection, endXDirection, endY, endYaw, vis);
assertStepSide(testDescription, footsteps.get(0), expectedSide);
message = "don't step too far, step: " + footsteps.get(0).getX() + ", allowed region: +/- " + stepWidth / 2;
assertTrue(message, (footsteps.get(0).getX() <= stepWidth / 2) && (footsteps.get(0).getX() >= -stepWidth / 2));