public double getNextTransferTime() { if (upcomingFootstepTimings.isEmpty()) return getDefaultTransferTime(); return upcomingFootstepTimings.get(0).getTransferTime(); }
public void addFootstepToPlan(Footstep footstep, FootstepTiming timing) { if (footstep == null) return; referenceCMPsCalculator.addUpcomingFootstep(footstep); int footstepIndex = referenceCMPsCalculator.getNumberOfFootstepRegistered() - 1; swingTimes.get(footstepIndex).set(timing.getSwingTime()); transferTimes.get(footstepIndex).set(timing.getTransferTime()); }
transferTime = timing.getTransferTime();
(inDoubleSupport.getBooleanValue() ? timingList.get(currentStepCount).getTransferTime() : timingList.get(currentStepCount).getSwingTime()), currentStepCount, planner1, planner2); currentStepCount = updateStateMachine(currentStepCount);
testForPlanningConsistency(inDoubleSupport.getBooleanValue(), currentStepCount); simulateTicks(checkForDiscontinuities, checkIfDynamicsAreSatisfied, (inDoubleSupport.getBooleanValue() ? timingList.get(currentStepCount).getTransferTime() : timingList.get(currentStepCount).getSwingTime()), currentStepCount); currentStepCount = updateStateMachine(currentStepCount);
@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); }