Change test morisawa to reflect new test procedure.

tests/TestMorisawa2007.cpp

@@ -5,18 +5,18 @@
  *
  * JRL, CNRS/AIST
  *
- * This file is part of walkGenJrl.
- * walkGenJrl is free software: you can redistribute it and/or modify
+ * This file is part of jrl-walkgen.
+ * jrl-walkgen is free software: you can redistribute it and/or modify
  * it under the terms of the GNU Lesser General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
  *
- * walkGenJrl is distributed in the hope that it will be useful,
+ * jrl-walkgen is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Lesser Public License for more details.
  * You should have received a copy of the GNU Lesser General Public License
- * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
+ * along with jrl-walkgen.  If not, see <http://www.gnu.org/licenses/>.
  *
  *  Research carried out within the scope of the
  *  Joint Japanese-French Robotics Laboratory (JRL)
@@ -155,61 +155,67 @@ protected:
     double r = 100.0*(double)m_OneStep.NbOfIt/(double)StoppingTime;
 
 
-    if (m_OneStep.NbOfIt>StoppingTime) /* Stop after 30 seconds the on-line stepping */
+    /* Stop after 30 seconds the on-line stepping */
+    if (m_OneStep.NbOfIt>StoppingTime) 
       {
 	StopOnLineWalking(*m_PGI);
       }
-    else{
-      if (m_OneStep.NbOfIt%200==0)
-	{
-	  cout << "Progress " << (unsigned int)r << " "<< "\r";
-	  cout.flush();
-	}
-
-      double triggertime = 9.8*200 + m_deltatime*200;
-      if ((m_OneStep.NbOfIt>triggertime) &&
-	  m_TestChangeFoot)
-	{
-	  PatternGeneratorJRL::FootAbsolutePosition aFAP;
-	  if (m_NbStepsModified<NBOFPREDEFONLINEFOOTSTEPS)
-	    {
-	      aFAP.x = OnLineFootSteps[m_NbStepsModified][0];
-	      aFAP.y = OnLineFootSteps[m_NbStepsModified][1];
-	      aFAP.theta = OnLineFootSteps[m_NbStepsModified][2];
-	    }
-	  else
-	    {
-	      aFAP.x=0.1;
-	      aFAP.y=0.0;
-	      aFAP.theta=5.0;
-	    }
-	  double newtime;
-	  bool stepHandledCorrectly=true;
-	  try 
-	    {
-	      m_PGI->ChangeOnLineStep(0.805,aFAP,newtime);
-	    }
-	  catch(...)
-	    {
-	      cerr << "Step not well handled." << endl;
-	      stepHandledCorrectly=false;
-	    }
-	  if (stepHandledCorrectly)
-	    {
-	      m_deltatime += newtime+0.025;
-	      m_TestChangeFoot=true;
-	      m_NbStepsModified++;
-	      if (m_NbStepsModified==360)
-		m_TestChangeFoot=false;
-	    }
-	  else 
-	    {
-	      m_deltatime += 0.005;
-	    }
-	}
-    }
+    else 
+      {
+	/* Stay on the spot during 5.0 s before stopping. */
+	if (m_OneStep.NbOfIt<StoppingTime-200*5.0) 
+	  {
+	    if (m_OneStep.NbOfIt%200==0)
+	      {
+		cout << "Progress " << (unsigned int)r << " "<< "\r";
+		cout.flush();
+	      }
+	
+	    double triggertime = 9.8*200 + m_deltatime*200;
+	    if ((m_OneStep.NbOfIt>triggertime) &&
+		m_TestChangeFoot)
+	      {
+		PatternGeneratorJRL::FootAbsolutePosition aFAP;
+		if (m_NbStepsModified<NBOFPREDEFONLINEFOOTSTEPS)
+		  {
+		    aFAP.x = OnLineFootSteps[m_NbStepsModified][0];
+		    aFAP.y = OnLineFootSteps[m_NbStepsModified][1];
+		    aFAP.theta = OnLineFootSteps[m_NbStepsModified][2];
+		  }
+		else
+		  {
+		    aFAP.x=0.1;
+		    aFAP.y=0.0;
+		    aFAP.theta=5.0;
+		  }
+		double newtime;
+		bool stepHandledCorrectly=true;
+		try 
+		  {
+		    m_PGI->ChangeOnLineStep(0.805,aFAP,newtime);
+		  }
+		catch(...)
+		  {
+		    cerr << "Step not well handled." << endl;
+		    stepHandledCorrectly=false;
+		  }
+		if (stepHandledCorrectly)
+		  {
+		    m_deltatime += newtime+0.025;
+		    m_TestChangeFoot=true;
+		    m_NbStepsModified++;
+		    if (m_NbStepsModified==360)
+		      m_TestChangeFoot=false;
+		  }
+		else 
+		  {
+		    m_deltatime += 0.005;
+		  }
+	      }
+	  }
+      }
   };
-    
+  
 };
 
 int PerformTests(int argc, char *argv[])