I have been a member of Orangetheory in Minneapolis and Milwaukee and when I decided to move to Madison, a big part of that decision was the fact that an Orangetheory was soon to open. Well it's finally open and it is just as fantastic as the others.
The classes at Orangetheory are kind of boot campy in nature. Classes are 60 minutes long, led by a certified trainer and encompass both cardio and strength training. You wear a heart rate monitor as you work out so you can always gauge how hard you're working. And the joy of the heart rate monitor is that it makes the workout completely customizable. The trainer will never tell you to run 7mph, only to get your heart rate in one of the key zones (determined by % of your max heart rate). How you get into that zone is up to you - run 9mph if that's your thing, or speed walk at an incline of 6% if that works for you.
Every day is a different workout so there's no way to get bored, the music is usually awesome, the trainers will take time to understand your unique fitness goals and help get you there. It is simply the best workout I've ever had.
There's no year long membership agreement, just a 30-day notice required, and you can try it for free. Try it, you'll love it.