本文整理了Java中us.ihmc.robotics.testing.YoVariableTestGoal.doubleGreaterThan()方法的一些代码示例，展示了YoVariableTestGoal.doubleGreaterThan()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.doubleGreaterThan()方法的具体详情如下：
包路径：us.ihmc.robotics.testing.YoVariableTestGoal
类名称：YoVariableTestGoal
方法名：doubleGreaterThan

YoVariableTestGoal.doubleGreaterThan介绍

暂无

代码示例

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

public static YoVariableTestGoal timeInFuture(YoDouble timeYoVariable, double durationFromNow)
{
 return doubleGreaterThan(timeYoVariable, timeYoVariable.getDoubleValue() + durationFromNow);
}

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

public static YoVariableTestGoal timeInFuture(QuadrupedTestYoVariables variables, double durationFromNow)
  {
   return YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + durationFromNow);
  }
}

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

public static YoVariableTestGoal notFallen(QuadrupedPositionTestYoVariables variables)
{
 return YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyZ(), variables.getDesiredCoMPositionZ().getDoubleValue() / 2.0);
}

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

public void testWalkingInABackwardRightCircle() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
  {
   QuadrupedTestBehaviors.standUp(conductor, variables);
   
   variables.getYoPlanarVelocityInputX().set(-0.1);
   variables.getYoPlanarVelocityInputZ().set(-0.06);
   conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
   conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
   conductor.simulate();
  }
}

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

public void testWalkingInAForwardLeftCircle() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(0.1);
 variables.getYoPlanarVelocityInputZ().set(0.06);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 35.0)
@Test(timeout = 30000)
public void testXGaitWalkingInPlaceLowerLimit(double nominalCoMHeight)
{
 standupPrecisely(nominalCoMHeight);
 
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 2.0));
 conductor.simulate();
 lowerHeightUntilFailure(nominalCoMHeight);
 conductor.concludeTesting();
}

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

@ContinuousIntegrationTest(estimatedDuration = 42.0)
@Test(timeout = 800000)
public void testYawingLeftFastNinetyDegrees() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputZ().set(0.1);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTimeLimit(variables.getYoTime(), 40.0);
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyYaw(), Math.PI / 2.0));
 conductor.simulate();
}

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

public void testWalkingInABackwardLeftCircle() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(-0.1);
 variables.getYoPlanarVelocityInputZ().set(0.06);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 80.0)
  @Test(timeout = 800000)
  public void testYawingLeftSlowNinetyDegrees() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
  {
   QuadrupedTestBehaviors.standUp(conductor, variables);
   
   variables.getYoPlanarVelocityInputZ().set(0.1);
   conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
   conductor.addTimeLimit(variables.getYoTime(), 60.0);
   conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyYaw(), Math.PI / 2.0));
   conductor.simulate();
  }
}

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

public void testWalkingInAForwardRightCircle() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(-0.1);
 variables.getYoPlanarVelocityInputZ().set(-0.06);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
 conductor.simulate();
}

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

public void testStandingAndResistingHumanPowerKickToFace() throws IOException
{
 conductor = quadrupedTestFactory.createTestConductor();
 variables = new QuadrupedForceTestYoVariables(conductor.getScs());
 stepTeleopManager = quadrupedTestFactory.getStepTeleopManager();
 pusher = new PushRobotTestConductor(conductor.getScs(), "head_roll");
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 0.5));
 conductor.simulate();
 pusher.applyForce(new Vector3D(-1.0, -0.1, 0.75), 700.0, 0.05);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 2.0));
 conductor.simulate();
}

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

public void testWalkingForwardFast() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(0.15);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 25.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 1.5));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 35.0)
@Test(timeout = 30000)
public void testXGaitWalkingLowerLimit(double nominalCoMHeight)
{
 standupPrecisely(nominalCoMHeight);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 2.0));
 conductor.simulate();
 stepTeleopManager.setDesiredVelocity(0.7, 0.0, 0.0);
 lowerHeightUntilFailure(nominalCoMHeight);
 conductor.concludeTesting();
}

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

public void testWalkingForwardSlow() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(0.06);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 35.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 0.35));
 conductor.simulate();
}

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

protected void testWalkingOverShallowBumpyTerrain(double speed) throws IOException
{
 double xAmp1 = 0.01, xFreq1 = 0.5, xAmp2 = 0.01, xFreq2 = 0.5;
 double yAmp1 = 0.01, yFreq1 = 0.07, yAmp2 = 0.01, yFreq2 = 0.37;
 BumpyGroundProfile groundProfile = new BumpyGroundProfile(xAmp1, xFreq1, xAmp2, xFreq2, yAmp1, yFreq1, yAmp2, yFreq2, 1.2);
 setup(groundProfile);
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 stepTeleopManager.requestXGait();
 stepTeleopManager.setDesiredVelocity(speed, 0.0, 0.0);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTimeLimit(variables.getYoTime(), 5.0);
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 2.0));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 35.0)
@Test(timeout = 30000)
public void testXGaitTrottingInPlaceLowerLimit(double nominalCoMHeight)
{
 standupPrecisely(nominalCoMHeight);
 
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 2.0));
 conductor.simulate();
 stepTeleopManager.getXGaitSettings().setEndPhaseShift(180.0);
 lowerHeightUntilFailure(nominalCoMHeight);
 conductor.concludeTesting();
}

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

@ContinuousIntegrationTest(estimatedDuration = 150.0, categoriesOverride = {IntegrationCategory.FAST, IntegrationCategory.VIDEO})
@Test(timeout = 600000)
public void testTurnInPlaceRegularSpeed() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 variables.getYoPlanarVelocityInputZ().set(0.15);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 45.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyYaw(), 1.0));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 90.0)
@Test(timeout = 600000)
public void testWalkingForward() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 
 variables.getYoPlanarVelocityInputX().set(0.15);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 45.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 2.3));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 50.0)
@Test(timeout = 200000)
public void testWalkingOverBumpyTerrain() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 variables.getYoPlanarVelocityInputX().set(0.08);
 variables.getYoPlanarVelocityInputZ().set(0.05);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 35.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 0.4));
 conductor.simulate();
}

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

@ContinuousIntegrationTest(estimatedDuration = 150.0, categoriesOverride = {IntegrationCategory.EXCLUDE, IntegrationCategory.VIDEO})
@Test(timeout = 600000)
public void testTurnInPlaceSlowly() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 variables.getYoPlanarVelocityInputZ().set(0.05);
 variables.getSwingDuration().set(2.0);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 45.0));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyYaw(), 0.3));
 conductor.simulate();
}