probability_computer_tests.cpp
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00034 
00036 
00037 // Bring in my package's API, which is what I'm testing
00038 #include "probabilistic_grasp_planner/grasp_success_probability_computer.h"
00039 #include "probabilistic_grasp_planner/probabilistic_planner_tools.h"
00040 // Bring in gtest
00041 #include <gtest/gtest.h>
00042 
00043 // Declare a test
00044 TEST(GraspSuccessProbabilityComputer, testSimpleGraspSuccessProbabilityComputer)
00045 {
00046   probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer computer(18665,10.0);
00047 
00048 
00049   probabilistic_grasp_planner::GraspWithMetadata grasp;
00050   grasp.model_id_ = 18665;
00051   grasp.energy_function_score_ = 50.0;
00052   EXPECT_DOUBLE_EQ(computer.getProbability(grasp),0.51243713187574524);
00053 
00054   grasp.energy_function_score_ = 0.0;
00055   EXPECT_DOUBLE_EQ(computer.getProbability(grasp), 0.95);
00056 
00057   grasp.model_id_ = 0;
00058   EXPECT_DOUBLE_EQ(computer.getProbability(grasp), 0.0);
00059 }
00060 
00061 
00062 // Declare another test
00063 TEST(GraspSuccessProbabilityComputer, testGSPCWithEstimation)
00064 {
00065   //Test that
00066 }
00067 
00068 //TEST(TestSuite, )
00069 
00070 // Run all the tests that were declared with TEST()
00071 int main(int argc, char **argv)
00072 {
00073   testing::InitGoogleTest(&argc, argv);
00074   return RUN_ALL_TESTS();
00075 }
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probabilistic_grasp_planner
Author(s): Peter Brook
autogenerated on Fri Jan 25 2013 15:03:22