本文整理了Java中us.ihmc.robotics.testing.YoVariableTestGoal.timeInFuture()方法的一些代码示例，展示了YoVariableTestGoal.timeInFuture()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoVariableTestGoal.timeInFuture()方法的具体详情如下：
包路径：us.ihmc.robotics.testing.YoVariableTestGoal
类名称：YoVariableTestGoal
方法名：timeInFuture

YoVariableTestGoal.timeInFuture介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

public void addDurationGoal(YoDouble timeYoVariable, double durationFromNow)
{
 terminalGoals.add(YoVariableTestGoal.timeInFuture(timeYoVariable, durationFromNow));
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void testFlatGroundWalking(double endPhaseShift, double walkingSpeed)
{
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 stepTeleopManager.getXGaitSettings().setEndPhaseShift(endPhaseShift);
 double walkTime = 6.0;
 stepTeleopManager.requestXGait();
 stepTeleopManager.setDesiredVelocity(walkingSpeed, 0.0, 0.0);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), walkTime));
 double finalPositionX = walkTime * walkingSpeed * 0.7;
 if(walkingSpeed > 0.0)
 {
   conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), finalPositionX));
 }
 else
 {
   conductor.addTerminalGoal(YoVariableTestGoal.doubleLessThan(variables.getRobotBodyX(), finalPositionX));
 }
 conductor.simulate();
 stepTeleopManager.setDesiredVelocity(0.0, 0.0, 0.0);
 conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
 conductor.simulate();
 stepTeleopManager.requestStanding();
 conductor.addTerminalGoal(YoVariableTestGoal.enumEquals(variables.getSteppingState(), QuadrupedSteppingStateEnum.STAND));
 conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 0.5));
 conductor.simulate();
 QuadrupedTestBehaviors.sitDown(conductor, variables);
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void testFlatGroundPacing(double walkingSpeed)
{
 stepTeleopManager.getXGaitSettings().setStanceWidth(getPacingWidth());
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 stepTeleopManager.getXGaitSettings().setEndPhaseShift(0.0);
 double walkTime = 5.0;
 stepTeleopManager.requestXGait();
 stepTeleopManager.setDesiredVelocity(walkingSpeed, 0.0, 0.0);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), walkTime));
 double finalPositionX = walkTime * walkingSpeed * 0.7;
 if(walkingSpeed > 0.0)
 {
   conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), finalPositionX));
 }
 else
 {
   conductor.addTerminalGoal(YoVariableTestGoal.doubleLessThan(variables.getRobotBodyX(), finalPositionX));
 }
 conductor.simulate();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

stepTeleopManager.setDesiredVelocity(walkingSpeed, 0.0, 0.0);
conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), walkTime));
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), initialWalkTime));
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), walkTime));

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();
conductor.addTerminalGoal(YoVariableTestGoal.timeInFuture(variables.getYoTime(), 1.0));
conductor.simulate();