@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testConstructor() { FootstepData testObject = new FootstepData(); assertTrue(testObject != null); Footstep testFootstep = new Footstep(RobotSide.LEFT); FootstepTiming testFootstepTiming = new FootstepTiming(0.2, 0.1); testFootstepTiming.setAbsoluteTime(0.1, 0.5); testObject.set(testFootstep, testFootstepTiming); assertTrue(testObject.getFootstep() == testFootstep); assertTrue(testObject.getStepTime() == testFootstepTiming.getStepTime()); assertTrue(testObject.getSwingSide() == testFootstep.getRobotSide()); assertTrue(testObject.getSupportSide() == testFootstep.getRobotSide().getOppositeSide()); assertTrue(testObject.getSwingTime() == testFootstepTiming.getSwingTime()); assertTrue(testObject.getTransferTime() == testFootstepTiming.getTransferTime()); assertTrue(MathTools.epsilonEquals(testObject.getTransferStartTime(), testFootstepTiming.getExecutionStartTime(), Epsilons.ONE_BILLIONTH)); assertTrue(testObject.getSwingStartTime() == testFootstepTiming.getSwingStartTime()); assertTrue(testObject.getFootstepPoseReferenceFrame() == testFootstep.getFootstepPose().getReferenceFrame()); assertTrue(testObject.getFramePose() == testFootstep.getFootstepPose()); testObject.setSwingTime(0.8); assertTrue(testObject.getSwingTime() == 0.8); Footstep newFootstep = new Footstep(RobotSide.LEFT); testObject.setFootstep(newFootstep); assertTrue(testObject.getFootstep() == newFootstep); }