Examples of sk.fiit.jim.agent.moves.Phase

sk.fiit.jim.agent.moves.Phase
Phase.java A structure encompassing data of a movement phase in a sequence of phases. Together with other phases it creates a whole LOW SKILL. Thus, LOW SKILL=> PHASE relation is of type 1:n. Data in the structure: 1. name - of the phase - has to be UNIQUE 2. next - next phase in the sequence of phases. May be ommitted in case isFinal is set to true 3. EFFECTORS - list of elementary joint moves executed in PARALLEL 4. duration - time in miliseconds that the move should take. Rounded to the nearest multiple of 20ms (one time quantum on server) 5. isFinal - denotes whether this phase is the last phase of a CYCLE. If so, the execution of a cycle may be broken 6. finalizationPhase - valid only if isFinal == true. Works as next attribute in case a finalization is requested 7. skipIfFlag - skips the execution of this phase if a such a flag is set to true 8. setTrueFlag - LowSkill sets a flag to true AFTER successfully executing this phase 9. setFalseFlag - LowSkill sets a flag to false PRIOR to executing this phase @Title Jim @author $Author: marosurbanec $

    assertTrue(Phases.get("walk_start").effectors.get(1).endAngle == -90.0);
  }
  
  @Test
  public void shouldCalculateValuesWithConstants(){
    Phase phaseWithConstants = Phases.get("walk2");
    double endAngle = phaseWithConstants.effectors.get(0).endAngle;
    assertThat(endAngle, is(closeTo(35.0, .1)));
    double endAngle2 = phaseWithConstants.effectors.get(1).endAngle;
    assertThat(endAngle2, is(closeTo(30, .01)));
  }

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    assertThat(endAngle2, is(closeTo(30, .01)));
  }
  
  @Test
  public void shouldPopulateSkipFlags(){
    Phase basicStancePosition = Phases.get("walk_start");
    assertThat(basicStancePosition.skipIfFlag, is(new SkipFlag("inBasicPosition")));
    assertThat(basicStancePosition.setFlagFalse, is(nullValue()));
    assertThat(basicStancePosition.setFlagTrue, is(new SkipFlag("inBasicPosition")));
  }

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  }
  
  @Test
  public void oneSkill(){
    LowSkill turnOnce = new LowSkill("turnOnce", "turnOncePhase");
    Phase phase = new Phase("turnOncePhase", 0.100);
    phase.finalizationPhase = "finalizationPhase";
    phase.isFinal = true;
    Phases.addPhase(phase);
    
    Phase finalizationPhase = new Phase("finalizationPhase", 0.100);
    finalizationPhase.isFinal = true;
    Phases.addPhase(finalizationPhase);
    
    highSkill.skillToChoose = turnOnce;
    executeHighSkill();

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  }


  @Test
  public void oneSkill(){
    LowSkill turnOnce = new LowSkill("turnOnce", "turnOncePhase");
    Phase phase = new Phase("turnOncePhase", 0.100);
    phase.finalizationPhase = "finalizationPhase";
    phase.isFinal = true;
    Phases.addPhase(phase);


    Phase finalizationPhase = new Phase("finalizationPhase", 0.100);
    finalizationPhase.isFinal = true;
    Phases.addPhase(finalizationPhase);


    highSkill.skillToChoose = turnOnce;
    executeHighSkill();

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  }


  @Test
  public void sameSkillAfterFinalizing(){
    LowSkill turnOnce = new LowSkill("turnOnce", "turnOncePhase");
    Phase phase = new Phase("turnOncePhase", 0.100);
    phase.finalizationPhase = "finalizationPhase";
    phase.isFinal = true;
    Phases.addPhase(phase);


    Phase finalizationPhase = new Phase("finalizationPhase", 0.100);
    finalizationPhase.isFinal = true;
    Phases.addPhase(finalizationPhase);


    highSkill.skillToChoose = turnOnce;
    executeHighSkill();

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Related Classes of sk.fiit.jim.agent.moves.Phase

sk.fiit.jim.agent.skills.HighSkillTest

sk.fiit.jim.init.SkillsFromXmlLoaderTest

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