robot.addYoVariableRegistry(registry);
robot.addYoVariableRegistry(registry);
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testErrorThresholdOnDerivativeComparison() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); Random random = new Random(1776L); double value = random.nextDouble(); yoVariableValueDataChecker.setErrorThresholdOnDerivativeComparison(value); assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getErrorThresholdOnDerivativeComparison(), value, EPSILON); yoVariableValueDataChecker.setErrorThresholdOnDerivativeComparison(-value); assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getErrorThresholdOnDerivativeComparison(), value, EPSILON); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testMaximumDerivative() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); Random random = new Random(1776L); double value = random.nextDouble(); yoVariableValueDataChecker.setMaximumDerivative(value); assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumDerivative(), value, EPSILON); yoVariableValueDataChecker.setMaximumDerivative(-value); assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumDerivative(), value, EPSILON); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testMaximumValue() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); Random random = new Random(1776L); double value = random.nextDouble(); yoVariableValueDataChecker.setMaximumValue(value); assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumValue(), value, EPSILON); yoVariableValueDataChecker.setMaximumValue(-value); assertFalse(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumValue() == value); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testSetMinGreaterThanMax() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); double value = 10.0; yoVariableValueDataChecker.setMaximumValue(value); yoVariableValueDataChecker.setMinimumValue(value + 1.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testSetMaxLessThanMin() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); double value = 10.0; yoVariableValueDataChecker.setMinimumValue(value); yoVariableValueDataChecker.setMaximumValue(value - 10.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testMinGreaterThanMax() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters); scs.hideViewport(); scs.startOnAThread(); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); yoVariableValueDataChecker.setMaximumValue(1.0); yoVariableValueDataChecker.setMinimumValue(2.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testMaxGreaterThanMin() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters); scs.hideViewport(); scs.startOnAThread(); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); yoVariableValueDataChecker.setMinimumValue(2.0); yoVariableValueDataChecker.setMaximumValue(1.0); }
private static SimulationConstructionSet setupSCS(String testName, YoVariableRegistry testRegistry, PlanarRegionsList regions, Point3D start, Point3D goal) { Robot robot = new Robot(VisibilityGraphsOcclusionTest.class.getSimpleName()); robot.addYoVariableRegistry(testRegistry); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters); Graphics3DObject graphics3DObject = new Graphics3DObject(); graphics3DObject.addCoordinateSystem(0.8); if (regions != null) { Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, regions, YoAppearance.White(), YoAppearance.Grey(), YoAppearance.DarkGray()); scs.setGroundVisible(false); } graphics3DObject.identity(); graphics3DObject.translate(start); graphics3DObject.translate(0.0, 0.0, 0.05); graphics3DObject.addCone(0.3, 0.05, YoAppearance.Green()); graphics3DObject.identity(); graphics3DObject.translate(goal); graphics3DObject.translate(0.0, 0.0, 0.05); graphics3DObject.addCone(0.3, 0.05, YoAppearance.Red()); scs.addStaticLinkGraphics(graphics3DObject); scs.setCameraPosition(-7.0, -1.0, 25.0); scs.setCameraFix(0.0, 0.0, 0.0); return scs; }
final YoDouble variableThree = new YoDouble("variableThree", registry); robot.addYoVariableRegistry(registry);
YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry);
YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry);
robot.addYoVariableRegistry(testRegistry); SimulationConstructionSet scs = new SimulationConstructionSet(robot);