How to use

getX

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

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));

public void set(ArrayList<Footstep> footsteps, double swingTime, double transferTime)
{
 FootstepDataListMessage footstepDataList = new FootstepDataListMessage(swingTime,transferTime);
 for (int i = 0; i < footsteps.size(); i++)
 {
   Footstep footstep = footsteps.get(i);
   Point3d location = new Point3d(footstep.getX(), footstep.getY(), footstep.getZ());
   Quat4d orientation = new Quat4d();
   footstep.getOrientation(orientation);
   RobotSide footstepSide = footstep.getRobotSide();
   FootstepDataMessage footstepData = new FootstepDataMessage(footstepSide, location, orientation);
   footstepDataList.add(footstepData);
 }
 set(footstepDataList);
}