Add test stress on Herdt WPG.

This test covers more widely some functionnalities of the Herdt PG.
The results should be checked again. Some asymmetries arise and
are too important to be explained only by the constraints.

tests/TestHerdt2010.cpp

@@ -25,6 +25,7 @@
 /* \file This file tests A. Herdt's walking algorithm for
  * automatic foot placement giving an instantaneous CoM velocity reference.
  */
+#include "Debug.hh"
 #include "CommonTools.hh"
 #include "TestObject.hh"
 
@@ -85,14 +86,23 @@ protected:
   void startTurningLeft(PatternGeneratorInterface &aPGI)
   {
     {
-      istringstream strm2(":setVelReference  0.2 0.0 0.2");
+      istringstream strm2(":setVelReference  0.2 0.0 6.0832");
       aPGI.ParseCmd(strm2);
     }
   }
   void startTurningRight(PatternGeneratorInterface &aPGI)
   {
     {
-      istringstream strm2(":setVelReference  0.2 0.0 -0.2");
+      //istringstream strm2(":setVelReference  0.2 0.0 -0.2");
+      istringstream strm2(":setVelReference  0.2 0.0 -6.0832");
+      aPGI.ParseCmd(strm2);
+    }
+  }
+
+  void startTurningLeftOnSpot(PatternGeneratorInterface &aPGI)
+  {
+    {
+      istringstream strm2(":setVelReference  0.0 0.0 10.0");
       aPGI.ParseCmd(strm2);
     }
   }
@@ -100,7 +110,7 @@ protected:
   void startTurningRightOnSpot(PatternGeneratorInterface &aPGI)
   {
     {
-      istringstream strm2(":setVelReference  0.0 0.0 -0.2");
+      istringstream strm2(":setVelReference  0.0 0.0 -10.");
       aPGI.ParseCmd(strm2);
     }
   }
@@ -162,22 +172,28 @@ protected:
       localeventHandler_t Handler ;
     };
 
-    #define localNbOfEvents 8
+    #define localNbOfEvents 12
     struct localEvent events [localNbOfEvents] =
-      { { 5*200,&TestHerdt2010::startTurningLeft},
-	{10*200,&TestHerdt2010::startTurningRight},
-	{15*200,&TestHerdt2010::startTurningRightOnSpot},
-	{20*200,&TestHerdt2010::stop},
-	{25*200,&TestHerdt2010::walkSidewards},
-	{30*200,&TestHerdt2010::walkForward},
-	{35*200,&TestHerdt2010::stop},
-	{40*200,&TestHerdt2010::stopOnLineWalking}};
+      { { 5*200,&TestHerdt2010::walkForward},
+        {10*200,&TestHerdt2010::walkSidewards},
+        {25*200,&TestHerdt2010::startTurningRightOnSpot},
+        {35*200,&TestHerdt2010::walkForward},
+        {45*200,&TestHerdt2010::startTurningLeftOnSpot},
+        {55*200,&TestHerdt2010::walkForward},
+        {65*200,&TestHerdt2010::startTurningRightOnSpot},
+        {75*200,&TestHerdt2010::walkForward},
+        {85*200,&TestHerdt2010::startTurningLeft},
+	{95*200,&TestHerdt2010::startTurningRight},
+	{105*200,&TestHerdt2010::stop},
+	{110*200,&TestHerdt2010::stopOnLineWalking}};
     
+    ODEBUG3("NbOfIt: " << m_OneStep.NbOfIt);
     // Test when triggering event.
     for(unsigned int i=0;i<localNbOfEvents;i++)
       { 
 	if ( m_OneStep.NbOfIt==events[i].time)
 	  {
+            ODEBUG3("********* GENERATE EVENT ***********");
 	    (this->*(events[i].Handler))(*m_PGI);
 	  }
       }