probability_computer_tests.cpp

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// Bring in my package's API, which is what I'm testing
#include "probabilistic_grasp_planner/grasp_success_probability_computer.h"
#include "probabilistic_grasp_planner/probabilistic_planner_tools.h"
// Bring in gtest
#include <gtest/gtest.h>

// Declare a test
TEST(GraspSuccessProbabilityComputer, testSimpleGraspSuccessProbabilityComputer)
{
  probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer computer(18665,10.0);


  probabilistic_grasp_planner::GraspWithMetadata grasp;
  grasp.model_id_ = 18665;
  grasp.energy_function_score_ = 50.0;
  EXPECT_DOUBLE_EQ(computer.getProbability(grasp),0.51243713187574524);

  grasp.energy_function_score_ = 0.0;
  EXPECT_DOUBLE_EQ(computer.getProbability(grasp), 0.95);

  grasp.model_id_ = 0;
  EXPECT_DOUBLE_EQ(computer.getProbability(grasp), 0.0);
}


// Declare another test
TEST(GraspSuccessProbabilityComputer, testGSPCWithEstimation)
{
  //Test that
}

//TEST(TestSuite, )

// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}